Development of Simulator for Intelligent Autonomous Underwater Vehicle

Abstract

Testing and debugging of real equipment is a time consuming task. In particular, in the case of marine robots, it is necessary each time to carry out the transportation and deployment of a robot on the water. Experiments with not yet fully functional prototype of marine robot equipped with expensive hardware is in the meantime very risky. Therefore, the use of simulators is affordable way to accelerate the development of robotic systems from the viewpoint of labor effort and cost of experiments. This paper presents a simulator specifically designed for autonomous unmanned underwater vehicles.

Local and Global Motion Planning for Unmanned Surface Vehicle

“…Simulator allows to model USV motion in an environment with obstacles, to set actuators controls, receive simulated navigation and laser scanner data [5]. Fig.…”

“…Proposed by the authors in [1][2][3][4][5] automatic control system allows to organize automatic motion of USV along the desired path. This article continues this work considering the motion planning process in an environment with obstacles.…”

Research of Algorithms for Approaching and Docking Underwater Vehicle with Underwater Station

“…Mathematic expression for the control is: It's obvious, that with many control limitations, closed-loop system may become instable, that is inadmissible in real systems. As shown in papers [2,3], such situation is pressing when solving positioning task. For example object is far from the positioning point, has excess velocity and cannot be stopped in the required time.…”

“…Regulator should base on laws of position-path control, developed by V. Pshikhopov [2][3][4][5] but with regard to peculiarities of controlled object [6]. As it was shown in [6], mathematical model of UV in matrix form is:…”

“…In order to get there, vehicle needs to perform docking operation. To solve this task, three algorithms: general control algorithm, moving algorithm and vehicle position algorithm were presented in paper [3]. Now let us research proposed algorithms in terms of their stability and define a criterion for switching between them while approaching and docking.…”