Step 1. If AUVs detects obstacle then go to next step, else go to step 5 Step 2. Determine P and configure S

Step 3. If very wide obstacle is detected in all of S then go up and return step 1; else go to next step.

Step 4. Call the fuzzy logic controller using BK-subtriangle product to S and P to figure out the successive heading for obstacle avoidance Step 5. Go on in the planned route

3.2 Navigation

Generally, the navigation system of unmanned underwater vehicles consists of two fucntions. One is path planning and the other is guidance and control (Vasudevan & Ganesan, 1996; Oommen et al., 1987). Path planing is the fuction of setting a path from a start point to a target destination using waypoints, and the function of guidance and controlling is to monitor and guide the vehicle to follow the designated path. The duty of the navigation system of the unmanned underwater vehicle in this article is transferring the following information into the autonomous navigation system's Virtual world: first, the results of an offline global path planning which allows the system a safe and optimal operation from start point to target destination, and secondly, monitoring and controlling the vehicle to stay on the set path to target destination. Fig. 5 shows the stucture of the navigation system

Path planner

Path setter executer

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