Autonomous Navigation ofA Underwater Robot UsingFuzzyLogic

A fuzzylogic forautonomous navigation of underwater robots isproposed inthis paper. TheVFF(Virtual ForceField) method, whichiswidely usedinthefield ofmobile robots, ismodified forapplication totheautonomous navigation ofunderwater robots. ThisModified Virtual Force Field (MVFF) methodusing fuzzy logic canbeusedfortrackkeeping and/or collision avoidance. Thecollision avoidance algorithm hasthe ability tohandle multiple static obstacles. Results ofsimulation showthattheproposed methodcanbeefficiently applied to collision avoidance andtrack keeping oftheunderwater robots.