Multiple obstacles detection using fuzzy interface system for AUV navigation in natural water
Date
2010
Authors
Zhao, S.
Lu, T.
Anvar, A.
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Conference paper
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Proceedings of the 5th IEEE Conference on Industrial Electronics and Applications (ICIEA 2010), 2010: pp.50-55
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Shi Zhao, Tien-Fu Lu and Amir Anvar
Conference Name
IEEE Conference on Industrial Electronics and Applications (5th : 2010 : Taichung, Taiwan)
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.
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Copyright 2010 IEEE