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|Title:||Multiple obstacles detection using fuzzy interface system for AUV navigation in natural water|
|Citation:||Proceedings of the 5th IEEE Conference on Industrial Electronics and Applications (ICIEA 2010), 2010: pp.50-55|
|Series/Report no.:||IEEE Conference on Industrial Electronics and Applications|
|Conference Name:||IEEE Conference on Industrial Electronics and Applications (5th : 2010 : Taichung, Taiwan)|
|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|
|Appears in Collections:||Electrical and Electronic Engineering publications|
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