A novel control method for shallow underwater robot

Abstract

For the coordination and control of robot behavior, behavior decision is the foundation and the determinant of robot intelligence. Based on autonomous underwater vehicle (AUV), through the analysis of domestic anti-surge technology research status and inrush current model, a control technology with the use of behavioural decision upper and lower piecewise integration control between PID and FPID(Fuzzy PID) is designed. Then, according to the characteristics of underwater robotics and inrush current optimal path planning, AUV can get information and plan a different anti-surge behavioural decision, which makes underwater robot better complete the underwater operations. Finally, the simulation of anti-surge behaviour underwater robot is done. The results show that it achieves a good control performance, and the environmental adaptability of AUV has been improved.