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Fuzzy Logic Guidance of a Control-Configured Autonomous Underwater Vehicle

In this paper, a fuzzy logic guidance scheme of a control-configured autonomous underwater vehicle (AUV) is presented. In order to fulfill specific tasks, multi-thrusters are installed in different directions as the actuators of the AUV. First, the nonlinear dynamic model of the AUV is established. Second, a fuzzy logic LOS guidance/control method is proposed to deal with the uncertainties in the operating environments, such that the navigation coefficient can be adjusted adaptively. Simulation and experiment results show the effectiveness of the proposed method.