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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)
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 design since they don't require explicit modeling of the vehicle dynamics. Furthermore, they may be tuned for optimal performance, and replace existing controllers designed using conventional or(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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