Using of artificial intelligence techniques to steering of underwater robotic vehicle along a reference path is considered in the paper. For the tracking, the way-point line of sight scheme is applied. Command signals are generated by an autopilot consisting of four independent controllers with a fuzzy control law implemented. Parameters of the controllers are tuned by means of genetic algorithms. A quality of control is tested without and in presence of environmental disturbances. Selected results of computer simulations are inserted to demonstrate quality of the approach.
Nonlinear control of underwater robotic vehicle in plane motion
