Autonomous Subsurface Vehicle (ASV) Forward Maneuvering Control Using Fuzzy Logic

Zamzuri , Mohamad Zainon (2007) Autonomous Subsurface Vehicle (ASV) Forward Maneuvering Control Using Fuzzy Logic. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This final project purposed to design and compares various methods the forward maneuvering control for ASV (autonomous subsurface vehicle) using fuzzy logic. The comparison methods use are Mamdani method, Sugeno method and ANFIS method. The first part of this project describes about three main fuzzy methods and the forward maneuvering control design. ANFIS method is the adaptive neuro-fuzzy inferences system which the result of combining fuzzy logic and neural network using MLP (multilayer perceptron) type. The result of ASV forward maneuvering using ANFIS method show the structure of rules, input and output through MLP (multilayer perceptron) structures. Controlling the maneuvering has been traditionally handled by experienced helmsmen but for autonomous vehicles, it difficult to design in order to avoid the obstacles which moving or static obstacles. The purpose of this project is to apply fuzzy logic control theory to such maneuvering scenarios in order to show that autonomous subsurface vehicles (ASV) forward maneuvering and avoid the front obstacles. This project simulates using MA TLAB R2006 simulation and the forward maneuvering design through fuzzy logic toolboxes. The maneuvering equations of motion are apply during fuzzy logic IF/THEN rules design but only centre line angle and front obstacles distance taking in account.

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