Supervisory Fuzzy Learning Control for Underwater Target Tracking
| Autor: | Kia, C., Arshad, M. R., Adom, A. H., Philip Wilson |
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| Jazyk: | angličtina |
| Rok vydání: | 2007 |
| Předmět: | |
| Zdroj: | Scopus-Elsevier |
| DOI: | 10.5281/zenodo.1057779 |
| Popis: | This paper presents recent work on the improvement of the robotics vision based control strategy for underwater pipeline tracking system. The study focuses on developing image processing algorithms and a fuzzy inference system for the analysis of the terrain. The main goal is to implement the supervisory fuzzy learning control technique to reduce the errors on navigation decision due to the pipeline occlusion problem. The system developed is capable of interpreting underwater images containing occluded pipeline, seabed and other unwanted noise. The algorithm proposed in previous work does not explore the cooperation between fuzzy controllers, knowledge and learnt data to improve the outputs for underwater pipeline tracking. Computer simulations and prototype simulations demonstrate the effectiveness of this approach. The system accuracy level has also been discussed. {"references":["An, E., A comparison of AUV navigation performance: a system\napproach, OCEANS 2003. Proceedings , Volume: 2 , 22-26 Sept. 2003\nPages:654 - 662 Vol.2","Evans, J., Petillot, Y., Redmond, P., Wilson, M. and Lane, D.,\nAUTOTRACKER: AUV Embedded Control Architecture for\nAutonomous Pipeline and Cable Tracking, OCEANS 2003. Proceeding ,\nVolume: 5 , 22-26 Sept. 2003, pp. 2651 - 2658","Arjuna Balasuriya and Ura, T., Vision-based underwater cable detection\nand following using AUVs Oceans '02 MTS/IEEE , Volume: 3 , 29-31\nOct. 2002 Pages:1582 - 1587 vol.3","Chua Kia and Mohd. Rizal Arshad, Robotics Vision-based Heuristic\nReasoning for Underwater Target Tracking and Navigation, Conference\nProceeding of The 2nd International conference on Mechatronics 2005,\nVol. 1 , 10-12 May 2005, Pages 132-139 Vol.1.","The World Deepwater Atlas, Oilfield Publications Limited (England) /\nOilfield Peblications Inc. (USA).","Kreyszig, Advanced Engineering Mathematics, Wayne Anderson, 1993.","James, G., Burley, D., Clements, D., Dyke, P., Searl, J. and Wright, J.,\nModern Engineering Mathematics, Addison Wesley, 1994.","Passino, K. M. and Yurkovich, S., Fuzzy Control, Addison Wesley, 1997."]} |
| Databáze: | OpenAIRE |
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