An Integrated Dynamic Model and Optimized Fuzzy Controller for Path Tracking of Deep-Sea Mining Vehicle

The capability of path tracking largely determines the operational efficiency deep-sea mining vehicles. In this paper, relationships vehicle–sediment mechanical interaction were obtained by sinkage and shear tests. Then, an overset grid method was used to establish computational fluid dynamics (CFD) model vehicle, spatial hydrodynamic distribution calculated in different motion states. Based on above research, a multi-body dynamic (MBD) vehicle developed, which considered effects between sediment. addition, path-tracking controller based fuzzy logic control proposed. A genetic algorithm optimized rules through co-simulation MBD model. Finally, results moved along expected indicated that performance preferable original controller.