Song, W.; Wang, W.; Guo, X., and Jiang, F., 2018. Autonomous return path planning method for small underwater robots. In: Liu, Z.L. and Mi, C. (eds.), Advances in Sustainable Port and Ocean Engineering. Journal of Coastal Research, Special Issue No. 83, pp. 184–187. Coconut Creek (Florida), ISSN 0749-0208.

The traditional underwater robot return path planning is vulnerable to interference, resulting in poor planning accuracy. In order to solve the problem, the fuzzy rules based research method is used to plan the autonomous return path for multiple small underwater robots and analyze the composition of the control system for path planning of underwater robot. According to the environmental information acquisition, the fuzzy rule is constructed. On this basis, the input and output variables are selected, and the selection results are made the fuzzy processing, so as to design the dynamic planning path. According to the planning process, the specific return path is determined. Through the experiment results, the highest accuracy of the planning method can reach 98%, and it has good effect on path planning.