Control and Guidance of an Underwater Robot via Fuzzy Control Method
In this project guidance and control of underwater robot, including three engines and propeller attached to it, by Fuzzy control has been investigated. Fuzzy control is done based on human experience and requiered laws. The robot can also be controlled and guided by the user. This robot may be used...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Islamic Azad University-Isfahan (Khorasgan) Branch
2010-12-01
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| Series: | International Journal of Advanced Design and Manufacturing Technology |
| Online Access: | https://admt.isfahan.iau.ir/article_534741_0660bac30a0bc0ae429bd66aba193978.pdf |
| _version_ | 1797657166377648128 |
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| author | Mehdi Ghanavati Afshin Ghanbarzadeh |
| author_facet | Mehdi Ghanavati Afshin Ghanbarzadeh |
| author_sort | Mehdi Ghanavati |
| collection | DOAJ |
| description | In this project guidance and control of underwater robot, including three engines and propeller attached to it, by Fuzzy control has been investigated. Fuzzy control is done based on human experience and requiered laws. The robot can also be controlled and guided by the user. This robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. In addition, this robot is able to follow a definite path and to do searching operation in that path. This robot is also able to overtake barriers on the surface or under the surface and forward toward target and path the barriers using fuzzy rules. In other words, while facing any barriers using fuzzy rules. In other words, while facing any barrier, robot decides necessary decision in such a way not to collide with it and path it. For simulation of the required system, webots' software which is strong software for mobile robot simulation and Maple's material software is used. This robot is capable to distance any obstacle in 3D and move towards the goal. Obstacle avoidance is done by fuzzy rules. Means when face any obstacle, the underwater robot decide for not collision and passes it. For the simulation system, Webots that is strong software for mobile robot simulation and mathematical software Maple is used. |
| first_indexed | 2024-03-11T17:40:31Z |
| format | Article |
| id | doaj.art-18d0a4d048284ee887abd26b755ad09f |
| institution | Directory Open Access Journal |
| issn | 2252-0406 2383-4447 |
| language | English |
| last_indexed | 2024-03-11T17:40:31Z |
| publishDate | 2010-12-01 |
| publisher | Islamic Azad University-Isfahan (Khorasgan) Branch |
| record_format | Article |
| series | International Journal of Advanced Design and Manufacturing Technology |
| spelling | doaj.art-18d0a4d048284ee887abd26b755ad09f2023-10-18T09:53:42ZengIslamic Azad University-Isfahan (Khorasgan) BranchInternational Journal of Advanced Design and Manufacturing Technology2252-04062383-44472010-12-0141534741Control and Guidance of an Underwater Robot via Fuzzy Control MethodMehdi GhanavatiAfshin GhanbarzadehIn this project guidance and control of underwater robot, including three engines and propeller attached to it, by Fuzzy control has been investigated. Fuzzy control is done based on human experience and requiered laws. The robot can also be controlled and guided by the user. This robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. In addition, this robot is able to follow a definite path and to do searching operation in that path. This robot is also able to overtake barriers on the surface or under the surface and forward toward target and path the barriers using fuzzy rules. In other words, while facing any barriers using fuzzy rules. In other words, while facing any barrier, robot decides necessary decision in such a way not to collide with it and path it. For simulation of the required system, webots' software which is strong software for mobile robot simulation and Maple's material software is used. This robot is capable to distance any obstacle in 3D and move towards the goal. Obstacle avoidance is done by fuzzy rules. Means when face any obstacle, the underwater robot decide for not collision and passes it. For the simulation system, Webots that is strong software for mobile robot simulation and mathematical software Maple is used.https://admt.isfahan.iau.ir/article_534741_0660bac30a0bc0ae429bd66aba193978.pdf |
| spellingShingle | Mehdi Ghanavati Afshin Ghanbarzadeh Control and Guidance of an Underwater Robot via Fuzzy Control Method International Journal of Advanced Design and Manufacturing Technology |
| title | Control and Guidance of an Underwater Robot via Fuzzy Control Method |
| title_full | Control and Guidance of an Underwater Robot via Fuzzy Control Method |
| title_fullStr | Control and Guidance of an Underwater Robot via Fuzzy Control Method |
| title_full_unstemmed | Control and Guidance of an Underwater Robot via Fuzzy Control Method |
| title_short | Control and Guidance of an Underwater Robot via Fuzzy Control Method |
| title_sort | control and guidance of an underwater robot via fuzzy control method |
| url | https://admt.isfahan.iau.ir/article_534741_0660bac30a0bc0ae429bd66aba193978.pdf |
| work_keys_str_mv | AT mehdighanavati controlandguidanceofanunderwaterrobotviafuzzycontrolmethod AT afshinghanbarzadeh controlandguidanceofanunderwaterrobotviafuzzycontrolmethod |