点击次数：

论文类型：期刊论文

发表时间：2018-01-01

发表刊物：JOURNAL OF COASTAL RESEARCH

收录刊物：SCIE

期号：,83

页面范围：184-187

ISSN号：0749-0208

关键字：Small underwater robot; autonomous return; path planning; fuzzy rules; fuzzy control

摘要：The traditional underwater robot return path planning is vulnerable to interference, resulting in poor planning accuracy. In order to solve the problem, the fuzzy rules based research method is used to plan the autonomous return path for multiple small underwater robots and analyze the composition of the control system for path planning of underwater robot. According to the environmental information acquisition, the fuzzy rule is constructed. On this basis, the input and output variables are selected, and the selection results are made the fuzzy processing, so as to design the dynamic planning path. According to the planning process, the specific return path is determined. Through the experiment results, the highest accuracy of the planning method can reach 98%, and it has good effect on path planning.