Fuzzy logic control, due to its simple control structure, easy and cost-effective design, has been successfully employed to the application of guidance and control in robotic fields. This paper aims to review fuzzy-logic-based guidance and control in an important branch of robots—marine robotic vehicles. First, guidance and motion forms including the maneuvering, path following, trajectory tracking, and position stabilization are described. Subsequently, the application of three major classes of fuzzy logic control, including the conventional fuzzy control (Mamdani fuzzy control and Takagi–Sugeno–Kang fuzzy control), adaptive fuzzy control (self-tuning fuzzy control and direct/indirect adaptive fuzzy control), and hybrid fuzzy control (fuzzy PID control, fuzzy sliding mode control, and neuro-fuzzy control) are presented. In particular, we summarize the design and analysis process of direct/indirect adaptive fuzzy control and fuzzy PID control in marine robotic fields. In addition, two comparative results between hybrid fuzzy control and the corresponding single control are provided to illustrate the superiority of hybrid fuzzy control. Finally, trends of the fuzzy future in marine robotic vehicles are concluded based on its state of the art.

Survey on Fuzzy-Logic-Based Guidance and Control of Marine Surface Vehicles and Underwater Vehicles

The increasing deployment of multiple unmanned vehicles systems has generated large research interest in recent decades. This paper therefore provides a detailed survey to review a range of techniques related to the operation of multi-vehicle systems in different environmental domains, including land based, aerospace and marine with the specific focuses placed on formation control and cooperative motion planning. Differing from other related papers, this paper pays a special attention to the collision avoidance problem and specifically discusses and reviews those methods that adopt flexible formation shape to achieve collision avoidance for multi-vehicle systems. In the conclusions, some open research areas with suggested technologies have been proposed to facilitate the future research development.

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A survey of formation control and motion planning of multiple unmanned vehicles

In this paper, we consider the parameter estimation issues of a class of multivariate output-error systems. A decomposition based recursive least squares identification method is proposed using the hierarchical identification principle and the auxiliary model idea, and its convergence is analyzed through the stochastic process theory. Compared with the existing results on parameter estimation of multivariate output-error systems, a distinct feature for the proposed algorithm is that such a system is decomposed into several sub-systems with smaller dimensions so that parameters to be identified can be estimated interactively. The analysis shows that the estimation errors converge to zero in mean square under certain conditions. Finally, in order to show the effectiveness of the proposed approach, some numerical simulations are provided.

Recursive parameter estimation algorithm for multivariate output-error systems

An autonomous underwater vehicle (AUV) is an economical and safe tool that is well-suited for search, investigation, identification, and salvage operations on the sea floor. Path planning technology, which primarily includes modeling methods and path search algorithms, is an important technology for AUVs. In recent years, the AUV path planning technology has rapidly developed. Compared with land robots, AUVs must endure complex underwater environments and consider various factors, such as currents, water pressure, and topography. Challenges exist in terms of online obstacle avoidance, three-dimensional environment path planning, and the robustness of the algorithms. Adapting a complex environment and finding a suitable path planning method comprise the main problem that must be solved. In this paper, we summarize the principles, advantages, and disadvantages of modeling and path search technologies for AUVs. The most prominent feature of this paper is to summarize the improvement methods of various technical shortcomings and improve the original methods, such as dynamic obstacle avoidance, optimization path, coverage, and processing speed. In addition to summarizing the characteristics of each algorithm, this paper intuitively demonstrates the experimental environment, the real-time nature, the path planning range of the AUV, and so on. We also discuss the application scenarios of various modeling and path search technologies for AUVs. In addition, we discuss the challenges of AUVs and the direction of future research.

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Path Planning Technologies for Autonomous Underwater Vehicles-A Review

https://hal-lirmm.ccsd.cnrs.fr/lirmm-01904325/document

Nonlinear guidance and fuzzy control for three-dimensional path following of an underactuated autonomous underwater vehicle

An integrated biologically inspired self-organizing map (SOM) algorithm is proposed for task assignment and path planning of an autonomous underwater vehicle (AUV) system in 3-D underwater environments with obstacle avoidance. The algorithm embeds the biologically inspired neural network (BINN) into the SOM neural networks. The task assignment and path planning aim to arrange a team of AUVs to visit all appointed target locations, while assuring obstacle avoidance without speed jump. The SOM neuron network is developed to assign a team of AUVs to achieve multiple target locations in underwater environments. Then, in order to avoid obstacles and speed jump for each AUV that visits the corresponding target location, the BINN is utilized to update weights of the winner of SOM, and achieve AUVs path planning and effective navigation. The effectiveness of the proposed hybrid model is validated by simulation studies.

Biologically Inspired Self-Organizing Map Applied to Task Assignment and Path Planning of an AUV System

The invention discloses a complete-coverage underwater search and rescue device which comprises an embedded controller, a sensor system, an upper optical transceiver, a lower optical transceiver, a water face monitoring system, a manual operator and an underwater robot body. The embedded controller and the sensor system are arranged on the underwater robot body, the input end of the embedded controller is connected with the output end of the sensor system, the output end of the embedded controller is connected with the input end of the lower optical transceiver, the input end of the upper optical transceiver is connected with the output end of the lower optical transceiver, the output end of the upper optical transceiver is connected with the input end of the water face monitoring system, and the output end of the manual operator is connected with the input end of the water face monitoring system. The invention further discloses a search and rescue method for the complete-coverage underwater search and rescue device. According to the device and the system, the amount of transmission information is large, image transmission is particularly facilitated, characteristics of AUV and ROV are both taken into consideration, and complete-coverage search and rescue is carried out by means of a bio-inspired neural network model.

Complete-coverage underwater search and rescue device and search and rescue method thereof

The invention discloses a three-dimensional position detection device and a detection method thereof. The detection device comprises a first pull rope displacement sensing unit, a second pull rope displacement sensing unit, a third pull rope displacement sensing unit and a position resolving unit, wherein the first pull rope displacement sensing unit, the second pull rope displacement sensing unit and the third pull rope displacement sensing unit are connected with an object to be measured, the position resolving unit is in wireless communication with the first pull rope displacement sensing unit, the second pull rope displacement sensing unit and the third pull rope displacement sensing unit, and the first pull rope displacement sensing unit, the second pull rope displacement sensing unit and the third pull rope displacement sensing unit are fixed in an L shape in the space. The three-dimensional position detection device has the advantages of being high in measurement accuracy, wide in measurement range, low in measurement cost and the like. Other equipment can read the three-dimensional position detection device in real time in a serial communication mode or the like and obtain three-dimensional position information of the object to be measured in a resolving mode. The three-dimensional position detection device and the detection method thereof are suitable for carrying out three-dimensional position measurement on an underwater robot in a pool environment and obtaining the moving track of the underwater robot according to the three-dimensional position information at different moments.

Three-dimensional position detection device and detection method thereof

The invention relates to an underwater noncontact type separation detection device which comprises a sealed shell assembly, a magnetic induction assembly, a signal processing circuit and an energy source assembly, wherein the sealed shell assembly is used for protecting and preventing the underwater noncontact type separation detection device from coming into contact with water; the magnetic induction assembly is arranged inside the sealed shell assembly and is used for outputting an electromagnetic induction signal in a separation process of an object to be separated; the signal processing circuit is arranged inside the sealed shell assembly and connected with the magnetic induction assembly and used for amplifying and comparing the electromagnetic induction signal and then outputting a level signal; and the energy source assembly is arranged inside the sealed shell assembly and connected with the signal processing circuit and used for providing a power supply to the underwater noncontact type separation detection device. The underwater noncontact type separation detection device is capable of judging whether the object is successfully separated through detecting the output level signal, has the characteristics of energy independence, small volume, convenience in installation, simple structure and the like, and is suitable for various occasions of underwater noncontact type separation detection.

Cao Xiang

Papers

Biologically Inspired Self-Organizing Map Applied to Task Assignment and Path Planning of an AUV System

Complete-coverage underwater search and rescue device and search and rescue method thereof

Three-dimensional position detection device and detection method thereof

Underwater noncontact type separation detection device