Technology Of Motion Planning For Autonomous Underwater Vehicle

The paper is based on the research project "Autonomous Underwater Vehicle" of the department of the chief equipment. The paper discusses the research significance and internal and external recent development of the underwater path planning technology. The paper analyses the non-linear property of the robot Itself and the uncertain environment. The appropriate path planning system is proposed.The simulation results indicate that this system provides the robot with higher intelligence.To the question autonomous underwater vehicle local path planning, the real-time path planning system based on fuzzy control is designed.This system solves the path planning problem in the complicated environment.The simulation results verified the way presented in this paper is effective.Considering the designed system based on fuzzy control may have deficiency,so a fuzzy cerebellar mode] articulation control system based on reinforcement learning is proposed .This system not only has people's experiment , but also has the ability to adjust the robot motion along with the different environment.To the question autonomous underwater vehicle path planning for region reconnaissance , the sensor based cellular decompositions is proposed. Then the strategy based on fuzzy control is applied to object reconnaissance . The technique accomplishes the complete coverage path planning for the underwater robot region reconnaissance .Also thetechnique can accurately describe the environment information of the region .The simulation results validate the proposed method iseffective and efficient.