Design Heading Control for Steering AUV with fuzzy logic

DOI

10.2991/aisr.k.200424.032How to use a DOI?

Keywords

autonomous underwater vehicles (AUV), fuzzy logic controller, navigation system

Abstract

Autonomous underwater vehicles (AUV) are a type of unmanned submarine robot that has many uses. The navigation system in an autonomous robot becomes an important point to guide the movement of submarine robots from one position to another through determining the position and direction of movement. Due to several interference factors such as currents and ocean waves, the movement of the AUV robot becomes unstable. Therefore we need a control system for robot movement so that the robot always faces the coordinates of the location so that AUV can move forward until it reaches the destination location. In this paper, the post control system will be designed using the Takagi Sugeno fuzzy method to determine the direction of movement of the robot by controlling the rotation angle (yaw).

Copyright

© 2020, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - CONF
AU  - Ahmad ZARKASI
AU  - Ilham Junius ANGKOTASAN
AU  - Muhammad Al RAVI
AU  - Endang Darmawan YUDI
PY  - 2020
DA  - 2020/05/06
TI  - Design Heading Control for Steering AUV with fuzzy logic
BT  - Proceedings of the Sriwijaya International Conference on Information Technology and Its Applications (SICONIAN 2019)
PB  - Atlantis Press
SP  - 218
EP  - 224
SN  - 1951-6851
UR  - https://doi.org/10.2991/aisr.k.200424.032
DO  - 10.2991/aisr.k.200424.032
ID  - ZARKASI2020
ER  -