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3-D behavior coordination mechanism for AUV motion planning

The horizontal autonomous behavior agent of AUV is designed which takes the behavior of agent as a dynamic interaction process between AUV and environment. The vertical autonomous behavior agent is designed by fuzzy theory to integrate the depth keeping behavior and height keeping behavior. In order to coordinate the horizontal and vertical autonomous behavior agents, the coordination principle based on mission decomposing and task execution language is proposed. The mission is decomposed in sequential tasks, and the task execution language of particular task is defined, which can convert the execution of task to synchronous autonomous behavior agents, and then coordinate behaviors according to priority rules. The 3-D simulation method and mission case are designed to verify the developed behavior system. The results of simulation show that the designing and coordination principles of autonomous behavior agent are correct and practical.