Implementation of Intelligent Control System for Autonomous Underwater Vehicle

Abstract:

This paper introduces the implementation of intelligent motion control and planning for autonomous underwater vehicle (AUV). Previously developed control system features intelligent motion control and planning subsystem, based on artificial neural networks. It allows detecting and avoiding moving obstacles in front of the AUV. The motion control subsystem uses position-trajectory control method to position AUV, move from point to point and along given path with given speed. Control system was tested in the multi-module simulation complex. Simulation showed good results – AUV successfully achieved given goals avoiding collisions not only with static obstacles, but also with mobile ones. That allows using the proposed control system for the groups of vehicles. Besides simulation, control system was implemented in hardware. AUV prototype passed tests in Azov Sea and proved its efficiency.

• Periodical: Applied Mechanics and Materials (Volumes 701-702)
• Pages: 704-710
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.701-702.704
• Online since: December 2014
• Authors: Viacheslav Pshikhopov, Yuriy Chernukhin, Viktor Guzik, Mikhail Medvedev, Boris Gurenko*, Alexey Piavchenko, Roman Saprikin, Vladimir Pereversev, Victor Krukhmalev
• Keywords: Artificial Neural Network (ANN), Autonomous Underwater Vehicle, Estimation, Genetic Algorithm (GA), Intelligent Motion Planning, Motion Control

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