Simulation of 3-Dimensional Motion of Unmanned Underwater Vehicle

J. Garus and Z. Kitowski (Poland)


Simulation, modelling, underwater vehicle, artificial intelligence


Modelling and simulation of spatial motion of unmanned underwater vehicle is considered in the paper. For the tracking of a reference trajectory, the way-point line of sight scheme is incorporated and fuzzy logic technique is applied to generate command signals. Parameters of membership functions are tuned using the genetic algorithms. Computer simulations are inserted to demonstrate quality and effectiveness of the approach.

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