Local Planning Method of Autonomous Underwater Vehicle

This paper analyses the real undersea environment effects on Autonomous Underwater Vehicle(AUV) and presents a local planning architecture based on Fuzzy Logic(FL). The key feature of the approach is integrated with the states of AUV, the environment of path and the object. The result of planning is a velocity factor, which can be taken into account by local path planning solution. Experiments show that the method is helpful and reliable especially to long distance and big-scale voyage of AUV.