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Study of Motion Control and a Virtual Reality System for Autonomous Underwater Vehicles

Faculty of Computer, Guangdong University of Technology, Guangzhou 510006, China
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Author to whom correspondence should be addressed.
Academic Editor: Mircea-Bogdan Radac
Algorithms 2021, 14(3), 93; https://doi.org/10.3390/a14030093
Received: 10 February 2021 / Revised: 14 March 2021 / Accepted: 14 March 2021 / Published: 18 March 2021
This paper studies a novel intelligent motion control algorithm for Autonomous Underwater Vehicles (AUV) and develops a virtual reality system for a new interactive experimental platform. The paper designs a robust neuro-fuzzy controller to tackle system uncertainties and external disturbances. Fuzzy control can solve the uncertainty problem of control systems. The neural network model self-tunes the controller parameters to improve the anti-interference ability. The designed control algorithm is verified using a MATLAB implementation and a virtual reality system. The virtual reality system developed in this paper can be used to debug the control algorithm, simulate the marine environment, and establish an ocean current interference model. The paper uses the MATLAB engine to realize the data communication between the MATLAB and the AUV virtual reality system. This allows the output order of the controller in MATLAB to drive the AUV in a virtual simulation system to simulate the 3D space motion. View Full-Text
Keywords: autonomous underwater vehicle; motion control; virtual reality system; neuro-fuzzy controller autonomous underwater vehicle; motion control; virtual reality system; neuro-fuzzy controller
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MDPI and ACS Style

Wang, M.; Zeng, B.; Wang, Q. Study of Motion Control and a Virtual Reality System for Autonomous Underwater Vehicles. Algorithms 2021, 14, 93. https://doi.org/10.3390/a14030093

AMA Style

Wang M, Zeng B, Wang Q. Study of Motion Control and a Virtual Reality System for Autonomous Underwater Vehicles. Algorithms. 2021; 14(3):93. https://doi.org/10.3390/a14030093

Chicago/Turabian Style

Wang, Minghui; Zeng, Bi; Wang, Qiujie. 2021. "Study of Motion Control and a Virtual Reality System for Autonomous Underwater Vehicles" Algorithms 14, no. 3: 93. https://doi.org/10.3390/a14030093

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