AUV Region Reconnaissance Based On Fuzzy Theory Under Ocean Current

Based on the research project and analysis of the property of the itself and the uncertain environment , the paper proposes methods for AUV region reconnaissance under the ocean current. The simulation results indicate that the methods provide the robot with higher intelligence.Considering the effect of ocean current on AUV, the paper confirms the reconnaissance direction according to the direction of the ocean current. It also indicates that it is the essential condition that AUV can search the area entirely to sail along the planned lines. Using the method of speed composing, the paper confirms the AUV's bow direction when it is searching the area. But the method cannot solve the problem that AUV sails along the planed line yet. So the paper designs a line track planner basing on the fuzzy theory.Aiming at the problem that the AUV's movement is always consistent with the output of the planner in the former emulator, the paper designs a emulator of the AUV's bow movement based on the fuzzy theory to simulate the real movement.The paper designs a target recognition algorithm based on the calculating distance value to recognize the target from three directions according to the request of the task.At the last, the paper introduces VxWorks, the real-time operation system, and introduces Tornado, the development platform of VxWorks. It discusses thesoftware development technology of the planning system.Because the considerations of effect of ocean current on AUV and the corresponding methods, the abilities of autonomous planning and motion control of AUV are improved. The simulation results prove the methods are effective and feasible.