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• AN ALGORITHM FOR CONTROLLING AN AUTONOMOUS UNDERWATER VEHICLE WHEN SEARCHING FOR A DESIGNATED BOTTOM OBJECT WITH THE INTEGRATED USE OF VARIOUS BOTTOM MONITORING TOOLS

  V.S. Bykova , А.I. Mashoshin

  2026-04-29

  Abstract ▼

  The search for designated bottom objects is one of the most difficult tasks solved by the AUV, due to a number of factors, the main of which are: the variety of search objects (sunken submarines, surface ships, airplanes, helicopters, mines, underwater pipelines and communication cables, various underwater infrastructure), the need for integrated use for search for various bottom monitoring tools that differ in their physical principles of operation, resolution, and search performance. The purpose of the work, the results of which are presented in the article, was to develop an algorithm for managing the AUV when searching for a designated bottom object that meets these requirements, and to verify it using a digital polygon and a digital twin of the AUV. The probability of correctly attributing the detected bottom object to the search object was chosen as a criterion for choosing a bottom monitoring tool in each specific case. As a result, the logic of searching for a designated bottom object is as follows. The search for bottom objects is carried out using a tool with maximum search performance. When a bottom object is detected, the probability of its belonging to the search object is determined. If it exceeds the set high threshold, a decision is made to locate the designated bottom object. If it is less than the specified low threshold, it is decided that an extraneous object has been detected. In other cases, a decision is made on the need to examine the object with a higher resolution. The technology of classification of bottom objects based on the training of an artificial neural network trained using synthesized training material is described. The results of checking the effectiveness of the developed algorithm using a digital polygon and a digital twin of AUV are presented. The simulation of the developed algorithm showed that the integrated use of bottom monitoring tools increases the likelihood of a successful solution to the problem and reduces the time needed to solve it.

• DEVELOPMENT OF A COMBINED CONTROL SYSTEM FOR RESIDENT/INTERVENTION AUV BASED ON BEHAVIORAL METHODS

  V.Y. Zanin, А. М. Maevskiy, I.V. Kozhemyakin

  2020-07-10

  Abstract ▼

  The aim of the study is the development of combined control systems by an autonomous un-derwater vehicle (AUV) of the intervention class and a manipulator complex installed on the AUV. Appliances of these types are an important component of underwater resident systems that allow you to expand the range of tasks performed by typical AUVs. The system is multi-level in nature, which allows to properly describe certain states and behavior of the device, depending on the task. The developed system is distinguished by its versatility and modularity, which implies the speed in setting up / adjusting the current tasks assigned to the AUV and the easy implementation and formation of additional tasks by the operator. As an example, we consider the problem associ-ated with the typical work of a resident AUV – sampling of soil fractions. The above results from field tests confirm the workability of the proposed approaches to control, taking into account ex-ternal non-deterministic perturbations of constant and monoharmonic effects. As part of the task, the process of forming the AUV states, transition commands between states, and the formation of a tree of device behavior is described. The scientific and practical novelty of the results presented in the article consists in the implementation of the first developed hardware-software complex for the AUV in the Russian Federation, which allows for the process of soil sampling in both automated and autonomous control modes.

• ALGORITHM FOR MANEUVERING AN AUTONOMOUS UNDERWATER VEHICLE WHEN NAVIGATING A SHIP THROUGH A MINED AREA

  V.S. Bykova, A.I. Mashoshin, I.V. Pashkevich

  2021-04-04

  Abstract ▼

  One of the tasks assigned to the autonomous underwater vehicles (AUV) is the fight
  against mine danger, which includes: 1) search for and destroy mines in the mined area;
  2) ensure their own safety when passing through the mined area or when working in this area;
  3) ensure the navigation of ships (including submarines) through the mined area. AUV can be
  considered as a further development of mine-fighting equipment, since they have a number of
  advantages over mine-fighting ships: 1) exclude the loss of life in the event of a mine explosion;
  2) have a lower level of physical fields to which the fuses of sea mines react; 3) are able to maneuver
  at the optimal depth for searching and classifying mines. In view of this, the creation of
  specialized AUV to combat the mine danger is very important. The search for mines with the
  help of AUV can be carried out either in the interests of their destruction (clearing the area) or
  for the purpose of guiding ships through the mined area. This article deals with the second
  problem. The description of the maneuvering algorithm of the AUV when ensuring the passage
  of a vessel through a mined area is given. The task is solved by detecting different types of
  mines using hydroacoustic and magnetometric means of searching and classifying underwater
  objects and bypassing of the mines at a safe distance. To reduce the time required to solve the
  task, the detected underwater objects are classified into the "mine-like object" and "other objects"
  classes. The use of the "mine-like object" class, which includes both the actual mines and
  objects that are indistinguishable from mines at the distances of their detection by means of
  mine search, allows you to avoid approaching detected underwater objects at a distance of their
  confident classification using high-frequency sonar and television equipment, and thereby increase
  the safety of the AUV and reduce the time of passage through the mined area. The algorithm
  takes into account the fact that the minimum safe distance between vessel and mine greatly
  exceeds the range of detection of mines of different types that does not allow AUV to find a
  safe vessel passage through the mined area by a single crossing and requires complex maneuvering
  of the AUV. Algorithm is intended for implementation in the AUV control system.

• DEVELOPMENT OF A HYBRID METHOD FOR PLANNING THE MOVEMENT OF A GROUP OF MARINE ROBOTIC COMPLEXES IN AN A PRIORI UNKNOWN ENVIRONMENT WITH OBSTACLES

  А.М. Maevsky, R.O. Morozov, А. Е. Gorely, V.A. Ryzhov

  2021-04-04

  Abstract ▼

  The article discusses the problem of organizing the group movement of marine robotics
  (MRS), in particular, unmanned autonomous underwater vehicles (AUV), in an a priori unknown
  environment with obstacles. A brief analysis of existing projects on the subject of MRS group control,
  and path-planning algorithms have been carried out. The presence of numerous studies in
  this area confirms the relevance of the indicated problem. The formal statement of the problem of
  the movement of four robots in formation is presented. The proposed method for a group path
  planning is based on a combined approach that organizes a multi-level solution to organizing the
  movement of MRS. At the upper level, a system for global path planning and mission control was
  developed based on the random tree method, which provides the general movement of the group
  based on a priori information about the state of the environment. The lower-level planning system
  adjusts the global path, allowing objects at the local level to carry out the group agents’ movement
  and interaction, including ensuring their collision-free movement in environment and exit from the
  areas of local minima. The article provides a detailed analytical description of the developed algorithm
  and a block diagram of its functioning. Numerical simulation of the movement of a group
  of 4 AUVs in a non-deterministic environment with fixed obstacles is carried out. The simulation
  was carried out taking into account obstacles of various shapes and complexity. The results of
  mathematical modeling demonstrated the solution to the problem of the exit of the AUV group
  from the area of the local minimum. Full-scale tests are presented on the example of a group of
  three unmanned boats: a group of mobile objects formed a formation and carried out a movement
  in a given formation to target positions and returned to the final zone. In addition, the local planning
  module developed within the framework of this article was integrated into the software of the
  "Shadow" underwater glider control system. In the conclusion, the results of the proposed method
  and its further development, in particular, its application in 3D environment, are considered.