Environment Perception for AUV in Uncertain Ocean Environment

It is necessary for AUV to real-time perceive the influence degree of current uncertain events of ocean environment, AUV status and mission executive on the task, and to provide trigger condition to re-planning during mission. An environment perception for AUV in uncertain ocean environment is proposed. Environment perception makes use of the idea that heterogeneous real-world data of different types must be processed by uncertain event detection layer and uncertain event recognition layer. The uncertain event detection method is based on ontology reasoning and fuzzy logic, and the uncertain event recognition method is based on Bayesian network .The results of uncertain event detection and uncertain event recognition are used to the update uncertain environment ontology mode extended by probability description. In this way, environment perception method for AUV in uncertain ocean environment extends the ability of uncertainty presentation and reasoning in ontology. Navigation experimental results show the effectiveness of environment perception method for AUV in uncertain ocean environment.