Obstacle Avoidance and Navigation of Bio-inspired Autonomous Underwater Vehicle using Fuzzy Logic Controller and Neuro-Fuzzy controller

摘要

Abstract Autonomous Underwater Vehicles (AUVs) are pre-programmable, robotic vehicles that can float, drive, or slide through the sea without operators and have real-time control, depending on their configuration. Biologically inspired AUVs (BAUVs) are a relatively new invention in the field of underwater vehicles that do away with propellers. Bio-inspired AUVs can be employed for high-speed and low-speed applications with exceptional propulsive efficiency. The navigation control mechanisms of a novel Bio-mimetic autonomous underwater vehicle were investigated in this work. In order to design a navigational system for the vehicle after avoiding obstacles, Fuzzy Logic Controller (FLC) and Neuro-Fuzzy controller approaches are utilized.