Unmanned Surface Vehicle Navigation Based on Gas Sensors and Fuzzy Logic Control to Localize Gas Source

Abstract

Oil spills can damage marine ecosystems that threaten organisms living in water. Oil spills can also evaporate which can cause air and soil pollution around it. In this study, a prototype of an Unmanned Surface Vehicle (USV) has been constructed to localize gas source. This vehicle is equipped with two gas sensors to detect the presence of gas and predict the direction of the gas source. The gas concentration received by the two gas sensors determines the speed of each propeller motor to approach the gas target. The fuzzy logic control system is applied to the USV navigation. The result shows that the USV prototype is able to approach and locate the target with the average accuracy achieved in searching of gas source location is 90.1%.