Study On Behavior-Based Control Of Autonomous Underwater Vehicle

Ocean is a fundamental composing part of life system, and the application of Underwater Vehicles; especially the autonomous underwater vehicle (AUV) is widely applied with the development on the ocean. Intelligent control is the hotspot in the research field of motion control of Underwater Vehicles, and it represents the research direction in the future to a great extent. This dissertation aims at the application of the behavior-based control techniques about the motion control of AUV, and tries to propose a control system of AUV with fine performance and designs the basic behavior of AUV.In this dissertation, the model of AUV is built and based on the practical needs and the convenience of designing the controller. The model is properly simplified into the dynamic model with 5 directions of freedom, which is the academic reference and guidance for the following control design and research.Through exploring the behavior-based control architecture of AUV, it interprets the main content of the behavior-based of AUV and proposes a kind of architecture of behavior-based control system about AUV, which can complete the task automatically. According to the actual situations, it combines the behavior-based control and the fuzzy control theory to design the basic behaviors of AUV, which are fuzzifiedly proceeded in the following.In this dissertation, according to the dynamic model of AUV, by using PID as the underlying movement control system of AUV, it establishes the various models of simulation system through using SIMULINK and VRML in MATLAB. Simulations and experiments of the basic behavior control are done through this model, then the results are analyzed, and it's the foundation for the practical applications in the future.