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Autonomous underwater vehicle (AUV) has been widely used in marine exploration and military applications in the past decade. The Decision-making Control System of AUV plays a key role of accomplishing its tasks in complex undersea environment. In this work a Behavior-Based Reactive Decision-making Control System is proposed for AUV. During the design of the Decision-making Control system, the hierarchy idea is brought in and form a hierarchical multi-behavior based Decision-making Control system. Due to the top-down sequence, the entire AUV system is composed of three kinds of module: Rational Behavior Module, Perceptual Behavior Module and AUV Entity. A simulation example of Perceptual Behavior Module is established based on Simulink and Fuzzy toolbox, and simulation experiences show that proposed design method is effective and feasible.
Advanced Computer Control (ICACC), 2010 2nd International Conference on (Volume:5 )
Date of Conference: 27-29 March 2010