排序方式: 共有1条查询结果,搜索用时 0 毫秒
1
1.
This article investigated the implementation of AUV local planning under the strong sea flow field by integrating Q learning with fuzzy logic method.The dynamics of AUV under the sea flow was analyzed in detail,and thus fuzzy logic behaviors were defined,including a fuzzy behavior which was defined to resist the sea flow by giving an extra angle towards sea flow.This behavior was complemented by two other behaviors,the moving-to-goal behavior and collision avoiding behavior.The recommendations of these three behaviors were integrated through adjustable weighting factors to generate the final motion command for the AUV.And Q-learning was used to adjust the peak point of fuzzy membership function to increase adaptability.Simulation results showed that it improves the adaptability of AUV under different sea flow greatly. 相似文献
1