Performance results of a fuzzy behavioral altitude flight controller and rendezvous and docking of an autonomous underwater vehicles with fuzzy control

Abstract

This paper describes the performance of the fuzzy behavioral decision based controller (FBDC) approach used to control the bottom altitude flight controller of the Ocean Voyager II (OVII) and Ocean Explorer (OEX) autonomous underwater vehicles. This paper also describes the approach planned for implementing rendezvous and docking capability on the OEXs. This approach is based on an inexpensive short base-line navigation system and a fuzzy docking controller.