Advanced Trajectory Planning and 3D Waypoints Navigation of Unmanned Underwater Vehicles Based Fuzzy Logic Control with LOS Guidance Technique

Abstract

Trajectory planning is a critical action for achieving the objectives of Unmanned Underwater Vehicles (UUVs). To navigate through complex environments, this study investigates motion trajectory planning using Rapidlyexploring Random Trees (RRT) and Fuzzy Logic Control (FLC). Our goal is to explore the use of the RRT trajectory planning algorithm to generate waypoints in a known static environment. In this case, the UUV’s planned trajectory can meet the required conditions for obstacle avoidance. By using various objective functions, the model can be solved, and the corresponding control variables can be adjusted to effectively accomplish the requirements of underwater navigation. This technique has been successfully applied in various experimental scenarios, demonstrating the effectiveness of the FLC regulator. For instance, The 3D waypoint navigation challenge has been tackled by implementing the Fuzzy Controller, which utilizes the robust Line-Of-Sight (LOS) guidance technique. Experimental results demonstrate that the FLC regulator efficiently navigates through the waypoints, maintains an accurate course, controls the pitch and yaw angles of the UUV, and successfully reaches the final destination.