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Intelligent Control for USV Based on Improved Elman Neural Network with TSK Fuzzy

DOI: 10.1155/2014/739517

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Abstract:

In recent years, based on the rising of global personal safety demand and human resource cost considerations, development of unmanned vehicles to replace manpower requirement to perform high-risk operations is increasing. In order to acquire useful resources under the marine environment, a large boat as an unmanned surface vehicle (USV) was implemented. The USV is equipped with automatic navigation features and a complete substitute artificial manipulation. This USV system for exploring the marine environment has more carrying capacity and that measurement system can also be self-designed through a modular approach in accordance with the needs for various types of environmental conditions. The investigation work becomes more flexible. A catamaran hull is adopted as automatic navigation test with CompactRIO embedded system. Through GPS and direction sensor we not only can know the current location of the boat, but also can calculate the distance with a predetermined position and the angle difference immediately. In this paper, the design of automatic navigation is calculated in accordance with improved Elman neural network (ENN) algorithms. Takagi-Sugeno-Kang (TSK) fuzzy and improved ENN control are applied to adjust required power and steering, which allows the hull to move straight forward to a predetermined target position. The route will be free from outside influence and realize automatic navigation purpose. 1. Introduction During WWII, there were reported records of unmanned vessels for reducing the damages of vessels as well as injuries and fatality of human. Using small torpedos or larger-sized unmanned ships for collecting information [1], global positioning system (GPS) brings high efficiency through the use of low-cost, unmanned design. There is no need for the concern of pilot’s safety in using unmanned vehicles for marine environmental survey. Vessels for marine environmental survey are usually equipped with USV system. It allows heavier loading capacity. In addition, the design of vessels can be modularized. There is better flexibility for adjustment according to the needs from various types of environments and investigations. The effective control range of many USV systems varies from 50 meters to 30 kilometers [2, 3], mainly restrained by the wireless transceiver modules. In order to increase the effective working range of USV, a design of unmanned vessels would be necessary. To allow USV systems to be autonavigating and to replace manual operation completely, the autonavigation system is the most needed task for every unmanned carrier.

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