Abstract：In this paper the method solving AUV local path plan by fuzzy mathematics is presented. First, for the moving character of AUV, the translation and rotation rules of AUV is discussed. And then sonar informations are disposed by fuzzy mathematics. On the basis of summarizing human driving experiences, the AUV local path plan control forms are constituted. At last, the avoidance simulation is carried out with computer so the simulative results are given.
[1] Khatib O.Real-time Obstacle Avoidance for Manipulators and Mobile Robots.Proc IEEE International Conf on Robotics and Automation,1985:500-505 [2] Krogh B H.A Generalized Potential Field Approach to Obstacle Avoidance Control.International Conf on Robotics Research,1984,14-16 [3] 张妆波等.基于势场法的水下机器人局部路径规划研究.应用科技,1994.4 [4] 王学慧等.微机模糊控制理论及其应用.电子工业出版社
