基于模糊定性仿真的自主式水下机器人运动建模

he problem of fuzzy qualitative motion moedling for autonomous underwater vehicle is studied in this paper. Since fuzzy qualitative state sequence in traditional fuzzy qualitative simulation method cannot represent fuzzy qualitative behavior of underwater vehicle in different motion states accurately, a fuzzy qualitative modeling method is proposed which is described in the form of fuzzy qualitative state transition sequence. Aiming at the problem that state transition type cannot describe the direction of changes in system variables in traditional fuzzy qualitative simulation, the classification is done for traditional fuzzy qualitative state transition type in the paper. The fuzzy qualitative model of "BEAVE" experimental prototype is established and the effectiveness of the proposed method is verified in the paper.