APPLICATION OF SOFT COMPUTING TECHNIQUES TO MOTION CONTROL OF UNDERWATER ROBOTIC VEHICLE

Abstract

Using of artificial intelligence techniques to steering of underwater robotic vehicle along a reference path is considered in the paper. For the tracking, the way-point line of sight scheme is applied. Command signals are generated by an autopilot consisting of four independent controllers with a fuzzy control law implemented. Parameters of the controllers are tuned by means of genetic algorithms. A quality of control is tested without and in presence of environmental disturbances. Selected results of computer simulations are inserted to demonstrate quality of the approach.