Robust navigation algorithm of the fishlike robot in the unknown underwater environment

摘要

This paper proposes an algorithm that enables the safe navigation toward the destination without collisions to the obstacle in underwater environment. Recently the study about the underwater robot goes ahead actively and above all, the navigation in the underwater environment has become a challenging problem for the underwater robots. Using the proposed method, an effective motion for the navigation of the underwater robot is created and the most stable motion direction without collisions is calculated using the fuzzy theory. It creates total 3 cells for the robot to move along and each cell has its own weight so that the robot can select a next moving cell by priority in the same environment. In this paper, the navigation of the underwater robot in underwater environment has been observed through the simulations when the force like ocean exists. It is confirmed that the obstacle avoidance can be successfully achieved by analyzing and changing the weights in the fuzzy algorithm according to the motion of the robot.