Path planning algorithm for AUV based on a Fuzzy-PSO in dynamic environments

A path planning problem of AUV in a dynamic environment is presented by using the Fuzzy- PSO controller in the paper. A novel fuzzy inference controller is developed to generate a collision-free path from an initial position to a destination. The PSO algorithm is used to tune parameters of the built fuzzy membership functions, and making adjustments for the fuzzy controller to find an optimal path. The simulation studies indicate effectiveness of the proposed approach.

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