Please use this identifier to cite or link to this item: http://hdl.handle.net/2440/63021
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Type: Conference paper
Title: Multiple obstacles detection using fuzzy interface system for AUV navigation in natural water
Author: Zhao, S.
Lu, T.
Anvar, A.
Citation: Proceedings of the 5th IEEE Conference on Industrial Electronics and Applications (ICIEA 2010), 2010: pp.50-55
Publisher: IEEE
Publisher Place: USA
Issue Date: 2010
Series/Report no.: IEEE Conference on Industrial Electronics and Applications
ISBN: 9781424450466
ISSN: 2156-2318
Conference Name: IEEE Conference on Industrial Electronics and Applications (5th : 2010 : Taichung, Taiwan)
Statement of
Responsibility: 
Shi Zhao, Tien-Fu Lu and Amir Anvar
Abstract: The detection of small moving targets, such as hazardous objects, is a challenging problem for sonar surveillance used by maritime robots’ navigation in shallow water. This phenomenon is due to the ambient sea noise and reverberation. This paper presents a fuzzy algorithm to automate detection of underwater multiple objects using Mechanical Scanned Imaging Sonar (MSIS). Returned sound waves were evaluated by a fuzzy interface system (FIS). Two parameters: the Pulse length and Maximum intensity are selected as linguistic variables for the fuzzy system. The data used in this paper were collected in a natural river which is about 3 meters depth. Results demonstrate good, reliable and fast performances of the proposed algorithm.
Keywords: imaging sonar target detection; FIS; AUV
Rights: Copyright 2010 IEEE
RMID: 0020103123
DOI: 10.1109/ICIEA.2010.5515001
Appears in Collections:Electrical and Electronic Engineering publications

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