Article

Article title PECULIARITIES OF GROUP CONTROL OF ANPA IN SEISMIC EXPLORATION
Authors L. A. Martynova, G. V. Konyukhov, I. V. Pashkevich, N. N. Rukhlov
Section SECTION I. GROUP CONTROL ROBOTS
Month, Year 09, 2017 @en
Index UDC 519.87
DOI
Abstract When using a group of autonomous underwater vehicles for seismic exploration in subglacial conditions in the Arctic shelf, a number of problems arise, the solution of which must be obtained taking into account the features of conducting the seismic exploration. The purpose of the work is to analyze the problems arising in the conduct of seismic exploration using a group of vehicles, and determine the methods for their solution. At the same time, approaches to the formation of algorithms for the control system of the vehicles have been developed, which exclude the emergence of conflict situations between the vehicles. Features of the behavior of a group of vehicles in the conduct of seismic exploration are associated with the need to navigate each vehicle, keep the vehicle on a route trajectory with position adjustment, coordinate the performance of heterogeneous functions by individual units of the group. As a solution to the navigation problem, it is proposed to use a difference-ranging method, in which each vehicle determines its location by four positions of the emitter at different times. When solving the problem of holding the vehicle on a route trajectory, an algorithm for guiding an unoccupied uninhabited underwater vehicle has been used by controlling the vehicle along the angle between the line of sight and the specified trajectory. To ensure coordination of actions performed by each vehicle, a multi-agent approach has been used. At the same time, the capabilities and authorities of each agent vehicle, the algorithm for their interaction, the volume and content of messages in their communication with each other are determined. To ensure the interaction of vehicles, the option of using sonar modems is considered. The proposed solutions under certain conditions can cause a conflict in the system, therefore, to exclude it, a hierarchical multi-level scheme for the formation of algorithms for the control system of the vehicle is proposed. To test the proposed solutions for their compatibility, a mathematical model has been developed. The results of the numerical experiments make it possible to clarify the decisions taken, optimize the parameters of the methods used and evaluate the effectiveness of the proposed solutions.

Download PDF

Keywords Group of autonomous uninhabited underwater vehicles; control system algorithms; mathematical model; seismic survey; Arctic shelf.
References 1. Faskhutdinov R.V. Podvodnye kamni morskoy seysmorazvedki [The pitfalls of offshore seismic exploration], www.Korabel.ru, 2016, Issue 2 (32), pp. 98-106.
2. Mashoshin A.I., Zhumenkov S.V., Zinnatov V.B., Er-makov S.Yu., Smirnov A.S. Morskaya avtonomnaya donnaya stantsiya dlya vypolneniya geofizicheskikh i geologorazvedochnykh rabot [Marine Autonomous bottom station for geophysical and geological exploration]. Patent RF 2 381 530, No. 2008124873/28; stated 10.06.2008; published 10.02.2010, Bull. No. 4, 8 p.
3. Avtonomnye podvodnye roboty. Sistemy i tekhnologii [Autonomous underwater robots. Systems and technologies], ed. by Ageeva M.D. Moscow: Nauka, 2005, 398 p.
4. Inzartsev A.V. i dr. Primenenie avtonomnogo neobitaemogo podvodnogo apparata dlya nauchnykh issledovaniy v Arktike [The application of Autonomous underwater vehicle for scientific research in the Arctic], Podvodnye issledovaniya i robototekhnika [Underwater re-searches and robotics], 2007, No. 2 (4), pp. 5-14.
5. Gizitdinova M.R., Kuz'mitskiy M.A. Mobil'nye podvodnye roboty v sovremennoy okeanografii i gidrofizike [Mobile underwater robots in modern oceanography and hydrophysics], Fundamental'naya i prikladnaya gidrofizika [Fundamentalnaya i prikladnaya gidrofizika], 2010, Vol. 3, No. 1, pp. 4-13.
6. Bozhenov Yu.A. Ispol'zovanie avtonomnykh neobitaemykh podvodnykh apparatov dlya issledovaniya Arktiki i Antarktiki [The use of Autonomous underwater vehicles for exploration of the Arctic and Antarctic], Fundamental'naya i prikladnaya gidrofizika [Fundamentalnaya i prikladnaya gidrofizika], 2011, Vol. 4, No. 1, pp. 4-68.
7. Millar G., Mackay L. Maneuvering under the ice, Sea technology, 2015, Vol. 56, No. 4,
pp. 35-38.
8. Illarionov G.Yu., Sidenko K.S., Bocharov L.Yu. Ugroza iz glubiny: XXI vek [Threat from the depths: the XXI century]. Khabarovsk: KGUP "Khabarovskaya kraevaya tipografiya", 2011, 304 p.
9. Belousov I. Sovremennye i perspektivnye neobitaemye podvodnye apparaty VMS SShA [Modern and perspective unmanned underwater vehicles, the US Navy], Zarubezhnoe voennoe obozrenie [Foreign military review], 2013, No. 5, pp. 79-88.
10. Viktorov R.V., Illarionov G.Yu., Kvashnin A.G. Dvoynoe primenenie avtonomnykh neobitaemykh podvodnykh apparatov tipa "REMUS" [Dual use Autonomous non-manned un-derwater vehicles such as "REMUS"], Dvoynye tekhnologii [Dual technology], 2010, No. 3, pp. 54-62.
11. Kuz'mitskiy M.A., Gizitdinova M.R. Mobil'nye podvodnye roboty v reshenii zadach VMF: Sovremennye tekhnologii i perspektivy [Mobile underwater robots in the tasks of the Navy: Modern technologies and perspectives], Fundamental'naya i prikladnaya gidrofizika [Fundamentalnaya i prikladnaya gidrofizika], 2011, Vol. 4, No. 3, pp. 37-48.
12. Maksimov S.V. O primenenii avtonomnykh neobitaemykh podvodnykh apparatov v tekhnologii total'noy donnoy seysmorazvedki [On the application of Autonomous underwater vehicles technology total bottom seismic survey], Trudy 4-y Vserossiyskoy nauchno-tekhnicheskoy konferentsii "Tekhnicheskie problemy osvoeniya Mirovogo okeana" [Proceedings of 4th all-Russian scientifictechnical conference "Technical problems of World ocean exploration"]. Vladivostok, 2011, pp. 220-224.
13. Gruzdev P.D., Dmitrichenko V.P., Zhostkov R.A., Kochedykov V.N., Nisnevich M.Z., Rudenko O.V., Sobisevich A.L., Sobisevich L.E., Soldatenkov V.A., Sukhoparov P.D. Podvizhnaya podvodnaya avtonomnaya seysmogidroakusticheskaya stantsiya razvedki uglevodorodov na akvatorii arkticheskogo shel'fa [Movable underwater Autonomous seismodislocations station for exploration of hydrocarbons in the waters of the Arctic shelf]. Patent RF No. 2515170.
No. 2012136491/28; stated 24.08.2012; published 27.02.2014, Bull. No. 6, 6 p.
14. Martynova L.A. Metod soglasovannogo povedeniya izluchatelya i avtonomnykh neobitaemykh podvodnykh apparatov dlya effektivnogo vedeniya seysmorazvedki [The method consistent behavior of the emitter and autonomous unmanned underwater vehicles for the efficient conduct of seismic data], Informatsionno-upravlyayushchie sistemy [.Information and control systems], 2017, No. 1 (86), pp. 83-92.
15. Kebkal K.G., Mashoshin A.I. Gidroakusticheskie metody pozitsionirovaniya avtonomnykh neobitaemykh podvodnykh apparatov [Hydro-acoustic methods of positioning Autonomous unmanned underwater vehicles], Giroskopiya i navigatsiya [Gyroscopy and navigation], 2016, Vol. 24, No. 3 (94), pp. 115-130.
16. Edwards D.B. A Leader-Follower Algorithm for Multiple AUV Formations, IEEE/OES Autonomous Underwater Vehicles, 2004, pp. 10.
17. Lyamina E.A. Algoritmy upravleniya dvizheniem gruppy ANPA po poiskovym traektoriyam. Elektronnyy resurs [The motion control algorithms of the group of ANPA at the search trajectories. Electronic resource].
18. Martynova L.A., Mashoshin A.I. Postroenie sistemy upravleniya avtonomnykh neobitaemykh podvodnykh apparatov na baze mul'tiagentnoy tekhnologii [Construction of control system of Autonomous underwater vehicles on the basis of multi-agent technology], Izvestiya YuFU. Tekhnicheskie nauki [Izvestiya SFedU. Engineering Sciences], 2016, No. 2 (175), pp. 38-48.
19. Kebkal K.G., Kebkal A.G., Kebkal V.K. Instrumental'nye sredstva sinkhronizatsii gidroakusticheskikh ustroystv svyazi v zadachakh upravleniya podvodnymi sensorami, raspredelennymi antennami, avtonomnymi apparatami [Tools of synchronization of acoustic communication devices in control of underwater sensors, distributed antennas, and Autonomous vehicles], Giroskopiya i navigatsiya [Gyroscopy and navigation], 2014, No. 2 (85),
pp. 70-85.
20. Martynova L.A, Konyukhov G.V., Pashkevich I.V., Rukhlov N.N. Tekhnologiya razrabotki modeley i algoritmov sistemy upravleniya ANPA pri vypolnenii slozhnoy missii [Technology development of models and algorithms of a control system of AUV while performing complex missions], Materialy dvenadtsatoy Vserossiyskoy nauchno-prakticheskoy konferentsii "Perspektivnye sistemy i zadachi upravleniya" 3-7 aprelya 2017 g. v p. Dombay Karachaevo-Cherkesskoy respubliki [The twelfth all-Russian scientific-practical conference "advanced sys-tems and control problems" from 3 to 7 April 2017 in p. Dombay Karachay-Cherkess Republic]. Rostov-on-Don, 2017, pp. 117-128.

Comments are closed.