To perform long range navigation and desired task, AUV is required to describe internal system states and mutual transitions clearly and completely. The mission planning system developed in this project utilizes finite state machine model to analyze and depict AUVpsilas working flow and intricate control logic of all mission stages. An efficient path planning method resulting in a shortest tangent route is presented, and it can be easily computed and implemented. A real-time motion planner using fuzzy logic is designed, it can practice superior dynamic control under imprecise sensor measurement, and it also satisfies real-time constraints and is easy to use. Simulation experiments and sea trials show that the mission planning system can guide AUV to navigate from given start position to remote task area, and precisely locate position and complete task, and it is capable of dealing with complex ocean environment and highly autonomous.
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