تحقیق بر کنترل فازی ردیابی مسیر برای وسیله های نقلیه زیر آبی، بر اساس بهینه سازی توسط الگوریتم ژنتیک

The path tracking problem of underwater robots in different working conditions is studied. According to the analysis of the control model for underwater robots, a path tracking method for underwater robots based on a line-of-sight method is proposed. Based on the fuzzy control algorithm, a fuzzy controller is designed, which is further optimized by a genetic algorithm. The fuzzy control method developed is applied to the path tracking of a self-made underwater vehicle, and tested by both simulation and experiment. Results show that with the path control method based on the fuzzy controller optimized by the genetic algorithm ensures that the vehicle sails along the expected path. Also, the system shows strong robustness.