Fuzzy logic based behavior fusion for multi-AUV formation keeping in uncertain ocean environment

In the complex and uncertain ocean environments, and under the conditions of current and sensor noises, multiple autonomous underwater vehicles (multi-AUV) keep a spatial formation to survey a large-scale unknown area with real-time obstacle avoidance ability. This paper presents a new behavior fusion method using fuzzy logic for coordinating multiple reactive behaviors. The inputs to the proposed fuzzy control scheme for the leader AUV in multi-AUV system consist of the deviation in yaw angle while performing obstacle avoidance and goal seeking action separately, and the fuzzy control scheme for the follower AUV consists of the deviations in yaw angle while performing obstacle avoidance and formation keeping action separately. The outputs from the behavior fusion scheme are the behavior weights for the leader and follower AUV. A real-time simulation platform has been developed and several typical obstacle scenes have been demonstrated in this simulation platform, the simulation results verify the effectiveness and robustness of the proposed behavior fusion method.