Fuzzy comprehensive evaluation for the motion performance of autonomous underwater vehicles

Motion performance of autonomous underwater vehicles (AUVs) is critical to the security and survey accuracy of AUVs. However, relationships among indices used to evaluate the motion performance are generally complicated and cannot be formulated mathematically, and it is hard to clarify how each index affects the motion performance of AUVs. In this paper, the fuzzy comprehensive evaluation (FCE) method was proposed to assess motion performance of AUVs. Focused on the landing AUV, process of the FCE method was described in detail, and the FCE system was constructed. In the FCE system, a three-level evaluating index system was built according to the motion characteristics of the landing AUV. Based on analysis of the survey process and measurement requirements of the landing AUV, the weight sets of each factor set were determined by applying the fuzzy analytic hierarchy process. The single-factor evaluation matrix was obtained by solving the membership function with ridged-shape distribution. Decision-making was completed through comparing evaluation results of the motion performance of two layout schemes. Field trials showed that the evaluation results could reflect the motion performance of landing AUVs objectively and comprehensively.