Article

Article title WATER AREA BOUNDARIES TRAJECTORY SURVEY BY A GROUP OF AUTONOMOUS UNDERWATER ROBOTS
Authors L. V. Kiselev, A. V. Medvedev
Section SECTION IV. MONITORING AND CONTROL IN TECHNICAL SYSTEMS
Month, Year 03, 2018 @en
Index UDC 551.46.077:629.584
DOI
Abstract Water area boundaries inspection (patrolling) is among major concerns of aquatic medium and seabed online monitoring in protected territories. When surveying large areas, a group of autonomous underwater vehicles (AUV) operates according to a uniform scenario. The task is to arrange AUV movement along the boundary and underwater surveillance. Achievement of the target is dependent on the protected water area boundaries representation, positioning means as well as AUV dynamics during performing prescribed search and exploration missions. Two options to perform the task are represented. In case of the first option water area boundary is represented as horizontal sections with peak coordinates known. If operation area boundary is exactly determined, navigational aids use the system with a single sonar beacon with precise coordinates, which is located in geometric center of plane section. In this case it is enough to know the distance to beacon and bearing to beacon or relative bearing in the beacon system of coordinates to adopt underwater vehicle motion program. In another option the boundary is determined by bathymetric contour on a bathymetric map. And such contour corresponds to the contour of predetermined survey area. AUV coordinates in preset system of reference are determined by the autonomous integrated positioning system. During group motion simulation it is intended that each vehicle possesses control over designated area and arranges its motion along plane section contour by performing its own task. In general it allows surveying the whole water area within the range of target depths. To study AUV dynamics during motion routing a simulation model based on Simulink Matlab and StateFlow Simulink complex software is used. Data for small-size hybrid (glider) vehicle designed by IMTP FEB RAS were used for AUV dynamics simulation.

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Keywords Autonomous underwater vehicles (AUV); navigation and motion control; bathymetry; bottom relief; mapping.
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