A Path Planning Algorithm for AUV Using Fuzzy Logic and Artificial Potential Field
نویسندگان
چکیده
An autonomous underwater vehicle (AUV) must move from a start point to target without colliding with other vehicles or obstacles execute various missions. Path planning is crucial function that causes AUVs find the shortest and safest path human intervention. This paper presents algorithm adopts safety distance keep as safe possible while avoiding collisions obstacles. The uses combination of fuzzy logic (FL) an artificial potential field (APF), which together overcome shortcomings global planning. proposed simultaneously considers position maintaining effectiveness demonstrated computer simulations.
منابع مشابه
Path Planning of Mobile Robot Using Fuzzy - Potential Field Method
This paper deals with the navigation of a mobile robot in unknown environment using artificial potential field method. The aim of this paper is to develop a complete method that allows the mobile robot to reach its goal while avoiding unknown obstacles on its path. An approach proposed is introduced in this paper based on combing the artificial potential field method with fuzzy logic controller...
متن کاملPath planning using a potential field representation
Findpath problem is the problem of moving an object to the desired position and orientation while avoiding obstacles. We present an approach to this problem using a potential field representation of obstacles. A potential function similar to the electrostatic potential is assigned to each obstacle, and the topological structure of the free space is derived in the form of minimum potential valle...
متن کاملA Global Integrated Artificial Potential Field/Virtual Obstacles Path Planning Algorithm for Multi-Robot System Applications
1 Multi-Robot Systems (MRS) Research Group, German University in Cairo, 5th Settlement New Cairo, 11432, Cairo, Egypt ---------------------------------------------------------------------***--------------------------------------------------------------------Abstract In this paper, a global off-line path planning approach is implemented using an energy-based approach Artificial Potential Field (...
متن کاملRevision on fuzzy artificial potential field for humanoid robot path planning in unknown environment
Path planning in a completely known environment has been experienced various ways. However, in real world, most humanoid robots work in unknown environments. Robots’ path planning by artificial potential field and fuzzy artificial potential field methods are very popular in the field of robotics navigation. However, by default humanoid robots lack range sensors; thus, traditional artificial pot...
متن کاملPath planning using potential field representation
Finding a safe, smooth, and efficient path to move an object through obstacles is necessary for object manipulation in robotics and automation. This paper presents an approach to twodimensional as well as threedimensional findpath problems that divides the problem into two steps. First, rough paths are found based only on topological information. This is accomplished by assigning to each obstac...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: ????????? ???
سال: 2022
ISSN: ['1976-5622', '2233-4335']
DOI: https://doi.org/10.5302/j.icros.2022.22.0037