Research on dynamic path planning of AUV based on forward looking sonar and fuzzy control

For the dynamic path planning problem of AUV in a complicated underwater environment, a new-style fuzzy-inference system with an accelerate/brake (A/B) module is developed. On the basis of building the forward looking sonar model, the thrust of AUV thrusters can be gotten by the fuzzy system, and control its next rotational angle and forward velocity. AUV is able to automatically avoid both static and dynamic obstacles by the proposed system as it moves toward its target. The simulation results certify that the algorithm has validity with less computational work and high real-time.