Obstacle avoidance using fuzzy neural networks

Xuemin Liu, Liang Peng, Jiawei Li, Yum Xu

Research output: Chapter in Book/Conference proceedingConference contributionpeer-review

13 Citations (Scopus)


If an underwater vehicle is to be completely autonomous, it must have the ability to avoid obstacles to safely operate. Because of the strong nonlinearity of the movement of the vehicle and the complexity of unknown oceanic environment, it is not satisfying to solve the problem using traditional control methods. However, the intelligent control techniques have the inherent superiority for solving strong nonlinear and complex problems. Therefore, a new method incorporating a fuzzy logic inference with an artificial neural network is presented in this paper. The method is used to establish a controller to control an autonomous underwater vehicle (ATJV) to avoid obstacles. It not only exerts some expertise, but also endows the controller with adaptability. As a result, the ATJV is provided with the ability of obstacle avoidance at the beginning, which greatly shortens the time of network learning. On the other hand, the controller can adjust itself to the variations of oceanic environment. Results of simulation using a five degrees of freedom nonlinear maneuvering mathematical model of the vehicle show that the proposed method can be efficiently applied to obstacle avoidance of an ATJV in complex and unknown oceanic environment.

Original languageEnglish
Title of host publicationUT 1998 - Proceedings of the 1998 International Symposium on Underwater Technology
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages5
ISBN (Electronic)0780342739, 9780780342736
Publication statusPublished - 1998
Externally publishedYes
EventInternational Symposium on Underwater Technology, UT 1998 - Tokyo, Japan
Duration: 15 Apr 199817 Apr 1998

Publication series

NameUT 1998 - Proceedings of the 1998 International Symposium on Underwater Technology


ConferenceInternational Symposium on Underwater Technology, UT 1998

ASJC Scopus subject areas

  • Oceanography
  • Automotive Engineering
  • Ocean Engineering
  • Instrumentation


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