V. Kanakakis

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A fuzzy logic based general purpose modular control architecture is presented for underwater vehicle autonomous navigation, control and collision avoidance. Three levels of fuzzy controllers comprising the sensor fusion module, the collision avoidance module and the motion control module are derived and implemented. No assumption is made on the specific(More)
1 Corresponding author’s e-mail: nikost@dpem.tuc.gr. This work was partially supported by a Research Grant from the Hellenic General Secretariat of Research and Technology, PABE 99 – BE118. Abstract-This paper deals with the application of a fuzzy logic based algorithm to the control of Autonomous Underwater Vehicles (AUVs). Fuzzy controllers are of simper(More)
This paper presents a complete methodology for mission planning and navigation of autonomous underwater vehicles (AUVs) in ocean environment. Path planning near the ocean floor is accomplished via genetic algorithms and B-splines based on known data of the ocean floor. In addition, collision free navigation is achieved in unknown environments. Prior to(More)
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