Autonomous underwater vehicles group control in the maritime search operations implementation

Authors

  • Сергій Володимирович Блінцов Admiral Makarov National University of Shipbuilding, Geroyiv Stalingrada, 9, Mykolayiv, 54025, Ukraine
  • Доан Фук Тхи Admiral Makarov National University of Shipbuilding, Geroyiv Stalingrada, 9, Mykolayiv, 54025, Ukraine

DOI:

https://doi.org/10.15587/2312-8372.2013.18405

Keywords:

autonomous underwater vehicle, group control, automated control system, maritime search operations

Abstract

The applied scientific problem of automated control of group motion of autonomous unmanned underwater vehicles during maritime search operations was considered in the paper. General principles of building the systems of automation control of a group of self-propelled autonomous underwater vehicles under the uncertainty of environment characteristics and non-stationarity of underwater vehicles parameters were given. The features of organization of autonomous underwater vehicles group operation when performing maritime searching works, the main tasks of automated control of a single vehicle-agent and a group of underwater vehicles, the requirements for algorithms of their collective behavior were studied. The task of synthesis of the system of automatic control of the group of underwater vehicles was formulated as the selection of sensor, communication and actuating capabilities of autonomous vehicle-agents and the development of algorithms for their collective behavior was elaborated. The synthesis of the system of automated control of the group of underwater vehicles was proposed to conduct by defining the target function of the group and individual vehicle-agents and developing the algorithms of their collective behavior during the overall underwater mission.

Author Biographies

Сергій Володимирович Блінцов, Admiral Makarov National University of Shipbuilding, Geroyiv Stalingrada, 9, Mykolayiv, 54025

Ph. D., Associate Professor,

Senior Researcher

Доан Фук Тхи, Admiral Makarov National University of Shipbuilding, Geroyiv Stalingrada, 9, Mykolayiv, 54025

Graduate student

Department of Electrical and information security courts

References

  1. The Navy Unmanned Undersea Vehicle. (UUV) Master Plan [Electronic Resource] / Department of the Navy; United States of America, 2004. – 127 р. – Available at: www/URL: http://www.navy.mil/navydata/technology/uuvmp.pdf. – Title from the screen.
  2. Блинцов, В. С. Привязные подводные системы [Текст] / В. С. Блинцов. – К.: Наукова думка, 1998. – 232 с.
  3. Ракитин, И. Я. Подводные робототехнические системы для исследований океана [Текст] / И. Я. Ракитин. – М.: НИП "Море", 2002. – 191с.
  4. Илларионов, Г. Ю. Подводные роботы в минной войне [Текст]: монография / Г. Ю. Илларионов, К. С. Сиденко, В. В. Сидоренков. – Калининград: ОАО «Янтарный сказ», 2008. – 116 с.
  5. Moore, S. Underwater Robotics: Science, Design & Fabrication [Text] / Steven W. Moore, Harry Bohm, Vickie Jensen. – Publisher: Marine Advanced Technology Education (MATE) Center, 2010. – 770 p.
  6. Блинцов, В. С. Проектирование самоходных привязных подводных систем [Текст] / В. С. Блинцов, В. Э. Магула. – К.: Наукова думка, 1997. – 140 с.
  7. Griffiths, G. Technology and Applications of Autonomous Underwater Vehicles [Text] / Gwyn Griffiths. – Taylor & Francis, 2002. – 368 р.
  8. Блінцов, С. В. Автоматичне керування автономними підводними апаратами в умовах невизначеності [Текст]: монографія / С. В. Блінцов. – Миколаїв: ТОВ "Фірма "Іліон", 2008. – 204 с.
  9. Романовський, Г. Ф. Современное состояние и перспектива развития подводних аппаратов в Украине [Текст] / Г. Ф. Романовський, В. С. Блинцов, И. А. Родин // Proceedings of the 5-th International Conference on Unconventional Electromechanical and Electrical System. – Vol 2. – Szczecin, 2004. – P. 107-117.
  10. Блинцов, В. С. Моделирующий комплекс для исследования свойств подводной буксируемой системы как объекта управления [Текст] / В. С. Блинцов, Нгуен Тьен Лонг // Збірка наукових праць Інституту проблем моделювання в енергетиці ім. Г.Є. Пухова. Спеціальний випуск. В 2-х томах. Т.1. – Київ, НАН України, ІПМЕ ім. Г.Є. Пухова. – 2005. – С. 22-27.
  11. Блинцов, В. С. Исследование влияния параметров кабель-троса двухзвенной подводной системы для случая ”обратной буксировки” [Текст] / В. С. Блинцов, С. В. Щепелев, С. И. Ольшевский // Морские технологии. – Николаев, НКИ. – 1993. – С. 19-24.
  12. Блинцов, В. С. Определение потерь в погружном электроприводе подводного апарата [Текст] / В. С. Блинцов, Д. В. Костенко, П. Шимчак // Вісн. Нац. техн. ун-ту «ХПІ». – Вип. 10. – 2001. – С. 410-411.
  13. Блинцов, В. С. Разработка оптимальных по быстродействию систем управления подводным аппаратом в условиях неопределенности на базе искусственных нейронных сетей [Текст] / В. С. Блинцов, Г. С. Грудинина // Сборник научных трудов НУК. – 2010. – № 1.
  14. Варшавский, В. И. Коллективное поведение автоматов [Текст] / В. И. Варшавский. – М.: Наука, 1973. – 408 с.
  15. Каляев, И. А. Модели и алгоритмы коллективного управления в группах роботов [Текст] / И. А Каляев, А. Р. Гайдук, С. Г. Капустян. – М.: ФИЗМАТЛИТ, 2009. – 280 с.
  16. The Navy Unmanned Undersea Vehicle. (UUV) Master Plan. (2004). Department of the Navy; United States of America, 127. Available: http://www.navy.mil/navydata/technology/uuvmp.pdf.
  17. Blintsov, V. S. (1998). Privyaznye podvodnye sistemy. K.: Naukova dumka, 232.
  18. Rakitin, I. Ya. (2002). Podvodnye robototekhnicheskie sistemy dlya issledovaniy okeana. M.: NIP "More", 191.
  19. Illarionov, G. Yu., Sidenko, K. S., Sidorenkov, V. V. (2008). Podvodnye roboty v minnoy voyne: Monografiya. Kaliningrad: OAO «Yantarnyy skaz», 116.
  20. Moore, S. W., Bohm, H., Jensen, V. (2010). Underwater Robotics: Science, Design & Fabrication. Publisher: Marine Advanced Technology Education (MATE) Center, 770.
  21. Blintsov, V. S., Magula, V. E. (1997). Proektirovanie samokhodnykh privyaznykh podvodnykh sistem. K.: Naukova dumka, 140.
  22. Griffiths, G. (2002). Technology and Applications of Autonomous Underwater Vehicles. Taylor & Francis, 368.
  23. Blіntsov, S. V. (2008). Avtomatichne keruvannya avtonomnimi pіdvodnimi aparatami v umovakh neviznachenostі: Monografіya. Mikolaiv: TOV "Fіrma "Іlіon", 204.
  24. Romanovs'kii, H. F., Blintsov, V. S., Rodin, I. A. (2004). Sovremennoe sostoianie i perspektiva razvitiia podvodnikh apparatov v Ukraine. Proceedings of the 5-th International Conference on Unconventional Electromechanical and Electrical System, Vol 2, 107-117.
  25. Blintsov, V. S., Nhuen T'en Lonh. (2005). Modeliruiushchii kompleks dlia issledovaniia svoistv podvodnoi buksiruemoi sistemy kak obiekta upravleniia. Zbіrka naukovikh prats' Іnstitutu problem modeliuvannia v enerhetitsі іm. H.Ye. Pukhova, T.1, 22-27.
  26. Blintsov, V. S., Shchepelev, S. V., Ol'shevskii, S. I. (1993). Issledovanie vliianiia parametrov kabel'-trosa dvukhzvennoi podvodnoi sistemy dlia sluchaia ”obratnoi buksirovki”. Morskie tekhnolohii. Nikolaev, NKI, 19-24.
  27. Blintsov, V. S., Kostenko, D. V., Shimchak, P. (2001). Opredelenie poter' v pohruzhnom elektroprivode podvodnoho aparata. Vіsn. Nats. tekhn. un-tu «KhPІ», Vip. 10, 410-411.
  28. Blintsov, V. S., Hrudinina, H. S. (2010). Razrabotka optimal'nykh po bystrodeistviiu sistem upravleniia podvodnym apparatom v usloviiakh neopredelennosti na baze iskusstvennykh neironnykh setei. Sbornik nauchnykh trudov NUK, № 1.
  29. Varshavskiy, V. I. (1973). Kollektivnoe povedenie avtomatov. M.: Nauka, 408.
  30. Kalyaev, I. A., Gayduk, A. R., Kapustyan, S. G., Kalyaev, I. A. (2009). Modeli i algoritmy kollektivnogo upravleniya v gruppakh robotov. M.: FIZMATLIT, 280.

Downloads

Published

2013-09-11

How to Cite

Блінцов, С. В., & Тхи, Д. Ф. (2013). Autonomous underwater vehicles group control in the maritime search operations implementation. Technology Audit and Production Reserves, 5(5(13), 36–38. https://doi.org/10.15587/2312-8372.2013.18405

Issue

Vol. 5 No. 5(13) (2013): MATERIALS OF SCIENTIFIC CONFERENCE. Information technology and control systems

Section

Information technology and control systems

License

Copyright (c) 2016 Сергій Володимирович Блінцов, Доан Фук Тхи

Creative Commons License

This work is licensed under a Creative Commons Attribution 4.0 International License.

The consolidation and conditions for the transfer of copyright (identification of authorship) is carried out in the License Agreement. In particular, the authors reserve the right to the authorship of their manuscript and transfer the first publication of this work to the journal under the terms of the Creative Commons CC BY license. At the same time, they have the right to conclude on their own additional agreements concerning the non-exclusive distribution of the work in the form in which it was published by this journal, but provided that the link to the first publication of the article in this journal is preserved.