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Article title ALGORITHMS REALIZED THE INTEGRATED CONTROL SYSTEM OF AUV
Authors L.A. Martynova, A.I. Mashoshin, I.V. Pashkevich, A.I. Sokolov
Section SECTION II. MARINE ROBOTICS
Month, Year 01, 2015 @en
Index UDC 626
DOI
Abstract This paper considers the AUV, in which the solution of the whole complex of cottages, on its management at all stages of the mission entrusted to Appa-versa-software system, called an integrated system of councils-ment (MIS), and includes all the radio-electronic means, in one way or otherwise involved in the management of the AUV. The aim of the work was the description of algorithm operation of each of the subsystems ISU AUV at each stage of the mission. The structure of the ISU AUV includes: management subsystem, subsystem illum-tion situation (VET) in hydroacoustic and others (need-sti) channels surveillance subsystem radio (RSVP), a subsystem of hydro-acoustic coupling (PGASv) with interactive objects and receive sig -nalov underwater beacons, navigation subsystem (TM) subsystem theme of technical means (putts) AUV (engine, steering-mi, manipulators and others. mechanisms) subsystem ensuring approachingtion (LTP) AUV. The paper shows the algorithmic structure of integrated systems-we (MIS) AUV based on a hybrid approach that combines centralized and multi-agent approach and largely follows the structure of the control system of a warship. Presents a brief description of the algorithms functioning of each of the subsystems of the integrated system (MIS) AUV at each stage of the mission. which are:– transition from home base in the designated area; – search in a designated area of the designated facility; – implementation of the specified object with this interaction; – return to home base; – mooring to mooring. The paper presents the basic algorithm implemented by the ISU.

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Keywords Autonomous underwater unmanned vehicles; inte- grated-control system; algorithm; functional efficiency.
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