An Obstacle Avoiding Control Strategy for Autonomous Underwater Vehicle

An obstacle avoiding control strategy for autonomous underwater vehicle (AUV) was proposed. According to the task of AUV, a variable structure control law was proposed for path following firstly. When AUV track the desired path, taking a looking forward sonar as the measuring instrument, a fuzzy inference system (FIS) was designed to derive the obstacle-avoiding angle based on the position relationship between AUV and the obstacle. Then, take the obstacle-avoiding angle as heading error of the path following control law. The proposed FIS and the path following control law construct an integrated obstacle avoiding control strategy. It was easy to be implemented. Simulation results show the efficiency of the strategy