A Path Planning Algorithm for AUV Using Fuzzy Logic and Artificial Potential Field

초록

An autonomous underwater vehicle (AUV) must move from a start point to a target point without colliding with other vehicles or obstacles to execute various missions. Path planning is a crucial function that causes AUVs to find the shortest and safest path without human intervention. This paper presents a path planning algorithm that adopts a safety distance to keep the vehicle as safe as possible while avoiding collisions with obstacles. The algorithm uses a combination of fuzzy logic (FL) and an artificial potential field (APF), which together overcome the shortcomings of global path planning. The proposed algorithm simultaneously considers the shortest path to the target position while maintaining a safe distance from obstacles. The effectiveness of the proposed algorithm is demonstrated with computer simulations. ©© ICROS 2022.

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