РАЗРАБОТКА КОМБИНИРОВАННОЙ СИСТЕМЫ УПРАВЛЕНИЯ РЕЗИДЕНТНЫМ/ИНТЕРВЕНЦИОННЫМ АНПА НА ОСНОВАНИИ ПОВЕДЕНЧЕСКИХ МЕТОДОВ
Ключевые слова:
Резидентная робототехника, автономный необитаемый подводный аппарат, интервенционный АНПА, поведенческие методы
Аннотация
Целью исследования является разработка комбинированных систем управления (СУ) автономным необитаемым подводным аппаратом (АНПА) интервенционного класса и манипуляторным комплексом (МК), установленным на АНПА. Аппараты такого типа яв-ляются важной составляющей подводных резидентных систем, которые позволяют рас-ширять спектр задач, выполняемых типовыми АНПА. Система носит многоуровневый характер, позволяющий на должном уровне описать определенные состояния и поведения аппарата в зависимости от поставленной задачи. Разработанная система отличается своей универсальностью и модульностью, что подразумевает быстроту в настройке/корректировке текущих задач, поставленных перед АНПА и простом внедрении и фор-мировании дополнительных задач со стороны оператора. В качестве примера, рассматри-вается задача, связанная с типовой работой резидентного АНПА – пробоотбор фракций грунта. Приведенные результаты натурных испытаний подтверждают работоспособ-ность предложенных подходов к управлению, с учетом внешних недетерминированных возмущений постоянного характера и моногармонического воздействия. В рамках выполнения поставленной задачи, описывается процесс формирования состояний АНПА, команд перехода между состояниями, формирования дерева поведений аппарата. Научная и практическая новизна полученных результатов, представленных в статье, состоит в реализации первого в РФ разработанного аппаратно-программного комплекса для АНПА, позво-ляющего обеспечить процесс пробоотбора грунта как в автоматизированном, так и ав-тономном режиме управления.
Литература
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28. Available at: https://oceanos.ru/news/355.
2. Wrzos-Kaminska M., Pettersen K.Y., Gravdahl J.T. Path following control for articulated in-tervention-AUVs using geometric control of reduced attitude, IFAC-PapersOnLine, 2019, pp. 192-197.
3. Dai P., Lu W., Le K., Liu D. Sliding Mode Impedance Control for contact intervention of an I-AUV: Simulation and experimental validation, Ocean Engineering, 2020, Vol. 196, 106855. ISSN 0029-8018. Available at: https://doi.org/10.1016/j.oceaneng.2019.106855.
4. Ridao [et al.]. Intervention AUVs: The next challenge, Annual Reviews in Control, 2015.
5. Zagatti R. [et al.]. FlatFish Resident AUV: Leading the Autonomy Era for Subsea Oil and Gas Operations, 2018, pp. 35-48.
6. Fahrni, L [et al.]. Scope and feasibility of autonomous robotic subseaintervention systems for offshore inspection, maintenance and repair, In Proceedings of the Proceedings ofthe 3rd International Conference on Renewable Energies Offshore (RENEW 2018), 2018, pp. 85-95.
7. Available at: https://www.marinetechnologynews.com/news/subsea-mining-thing-588211.
8. Gaykovich B.A., Zanin V.Yu., Taradonov V.S., Blinkov A.P., Kozhemyakin I.V., Tokarev M.Yu., Biryukov E.A. Kontseptsiya robotizirovannoy podvodnoy seysmorazvedki v podlednykh akvatoriyakh [The concept of robotic underwater seismic exploration in subglacial waters], Sb. rabot laureatov Mezhdunarodnogo konkursa nauchnykh, nauchno-tekhnicheskikh i innovatsionnykh razrabotok, napravlennykh na razvitie i osvoenie Arktiki i kontinental'nogo shel'fa 2018 goda [A collection of works by laureates of the International competition of scien-tific, scientific-technical and innovative developments aimed at the development and devel-opment of the Arctic and continental shelf in 2018], 2019, pp.-64-87.
9. Maevskiy A.M., Gaykovich B.A. Razrabotka gibridnykh avtonomnykh neobitaemykh apparatov dlya issledovaniya mestorozhdeniy uglevodorodov [Development of hybrid Autonomous uninhabited vehicles for the study of hydrocarbon deposits], Nauchno-tekhnicheskiy sbornik vesti gazovoy nauki [Scientific and technical collection of gas science news], 2019, No. 2 (39), pp. 29-40.
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11. Maevskiy A.M., Gaykovich B.A. Razrabotka legkogo interventsionnogo avtonomnogo neobitaemogo podvodnogo apparata v tselyakh ispol'zovaniya v podvodnykh rezidentnykh sistemakh [Development of a light intervention Autonomous uninhabited underwater vehicle for use in underwater resident systems], Mater. XIV Vserossiyskoy nauchno-prakticheskoy konferentsii i X molodezhnoy shkoly-seminara «Upravlenie i obrabotka informatsii v tekhnicheskikh sistemakh» [Materials of the XIV all-Russian scientific and practical confer-ence and X youth school-seminar "Management and processing of information in technical systems"]. Rostov-om-Don; Taganrog: Izd-vo YuFU, 2019, pp. 83-98.
12. Inzartsev A.V., Pavin A.M., Bagnitskiy A.V. Planirovanie i osushchestvlenie deystviy obsledovatel'skogo podvodnogo robota na baze povedencheskikh metodov [Planning and im-plementation of actions of the survey underwater robot based on behavioral methods], Podvodnye issledovaniya i robototekhnika [Underwater research and robotics], 2013, No. 1 (15), pp. 4-16.
13. Inzartsev A.V. Metody formirovaniya povedeniya i proektirovaniya programmnogo obespecheniya obsledovatel'skogo avtonomnogo podvodnogo robota: dis. ... d-ra tekhn. nauk [Methods of behavior formation and software design of the survey Autonomous underwater robot: cand. of eng. sc. diss.]. Moscow, 2012, 297 p.
14. Marzinotto A., Colledanchise M., Smith C., Gren P. Towards a unifiedbehavior trees frame-work for robot control, In: 2014 IEEE InternationalConference on Robotics and Automation (ICRA), pp. 5420-5427.
15. Palma R. [et al.].Extending Case-Based Planning with Behavior Trees, in FLAIRS Confer-ence. AAAI Press, 2011, pp. 65-79.
16. Lim C.-U., Baumgarten R., and Colton S. Evolving Behaviour Trees for the Commercial Game DEFCON, in Applications of Evolutionary Computation. Springer, 2010, pp. 100-110.
17. Pshikhopov V.Kh., Shevchenko V.A., Medvedev M.Yu., & Gurenko B.V. Upravlenie raspredelennymi sistemami podvodnoy robototekhniki s ispol'zovaniem adaptivnoy etalonnoy modeli [Management of distributed systems of underwater robotics using an adaptive reference model], Inzhenernyy vestnik Dona [Don's engineering Bulletin], 2017, Vol. 45 (2 (45)), pp. 27.
18. Pshikhopov V.Kh., CHernukhin Yu.V., Fedotov A.A., Guzik V.F., Medvedev M.Yu., Gurenko B.V., P'yavchenko A.O., Saprykin R.V., Pereverzev V.A., & Priemko A.A. Razrabotka intellektual'noy sistemy upravleniya avtonomnogo podvodnogo apparata [Development of an intelligent con-trol system for an Autonomous underwater vehicle], Izvestiya YuFU. Tekhnicheskie nauki [Izvestiya SFedU. Engineering Sciences], 2014, No. 3 (152), pp. 87-101.
19. Pshikhopov V.Kh., Medvedev M.Yu., Gurenko B.V. Metody avtomaticheskogo upravleniya morskimi podvizhnymi ob"ektami: monografiya [Methods of automatic control of marine mo-bile objects: monograph]. Rostov-on-Don, Taganrog: YuFU, 2016, 264 p.
20. Available at: https://www.designworldonline.com/using-behavior-trees-to-improve-the-modularity-of-auv-control-systems/.
21. Available at: https://oceanos.ru/news/339.
22. Available at: https://oceanos.ru/news/361.
23. Nishida Y. et al. Benthos Sampling by Autonomous Underwater Vehicle Equipped a Manipu-lator with Suction Device, 2019 IEEE Underwater Technology (UT), Kaohsiung, Taiwan, 2019, pp. 1-4. Doi: 10.1109/UT.2019.8734330.
24. Weerakoon, Tharindu & Sonoda [et al.]. Underwater Manipulator for Sampling Mission with AUV in Deep-Sea, The Proceedings of JSME annual Conference on Robotics and Mechatron-ics (Robomec), 2017, pp. 1-11.
25. ai Huang [et al.]. A review on underwater autonomous environmental perception and target grasp, the challenge of robotic organism capture, Ocean Engineering, 2020, pp. 15-27.
26. Prats, Mario & Romagós [et al.]. Reconfigurable AUV for intervention missions: A case study on underwater object recovery, Intelligent Service Robotics, 2015, pp. 19-31.
27. Available at: https://www.whoi.edu/press-room/news-release/whoi-underwater-robot-takes-first-known-automated-sample-from-ocean/.
28. Available at: https://oceanos.ru/news/355.
