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Article title NAVIGATION AND ALGORITHMIC SUPPORT AUV-ROV COMPLEX IN SOLVING PROBLEMS MONITORING BOTTOM SURFACE
Authors A.A. Boreyko, Yu.V. Vaulin, V.V. Kostenko, Yu.V. Matvienko, D.N. Mikhailov, A.M. Pavin
Section SECTION III. MARINE ROBOTICS
Month, Year 03, 2014 @en
Index UDC 551.46.077:629.584
DOI
Abstract The paper presents the features and technical implementation of the navigation software and algorithmic underwater technical complex consisting of autonomous and remotely operated unmanned underwater vehicles. Adopted technical solutions provide collaboration AUV and ROV in a single hydroacoustic navigation field formed by a set of sonar beacons. This enables coordinated interaction vehicles in the bottom surface of the comprehensive examination or inspection of hydraulic structures and ship hulls. Complex AUV - ROV allows us to conduct SSS shooting bottom with identification of previously detected targets for high-frequency scan sonar and shooting a photo and television cameras. This article describes the trajectory control algorithms to automate the movement of technical regulations under water and on the surface of the target point with known geographic coordinates. Proposed and implemented solutions that deliver dynamic positioning ROV over any object and automatic inspection of underwater structures and ship hulls. The features of navigational support technical regulations and controls the executive level management. The results of field tests of underwater technical complex developed in IMPT FEB RAS.

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Keywords Remotely operated vehicle; autonomous underwater vehicle; system-board navigation and control; hydroacoustic navigation system; doppler lag; echolocation system; satellite navigation system; control algorithms for trajectory motion; dynamic positioning; video navigation; regulators motion control; field tests.
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