A Hovercraft is an amphibious vehicle that hovers just above the ground or water by air
cushion. The concept of air cushion vehicle can be traced back to 1719. However, the
practical form of hovercraft nowadays is traced back to 1955. The objective of the paper is to
design, simulate and implement an autonomous model of a small hovercraft equipped with a
mine detector that can travel over any terrains. A real time layered fuzzy navigator for a
hovercraft in a dynamic environment is proposed. The system consists of a Takagi-Sugenotype
fuzzy motion planner and a modified proportional navigation based fuzzy controller.
The system philosophy is inspired by human routing when moving between obstacles based
on visual information including the right and left views from which he makes his next step
towards the goal in the free space. It intelligently combines two behaviours to cope with
obstacle avoidance as well as approaching a goal using a proportional navigation path
accounting for hovercraft kinematics. MATLAB/Simulink software tool is used to design and
verify the proposed algorithm.
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