Implementation of Intelligent Control System for Autonomous Underwater Vehicle

Abstract

This paper introduces the implementation of intelligent motion control and planning for autonomous underwater vehicle (AUV). Previously developed control system features intelligent motion control and planning subsystem, based on artificial neural networks. It allows detecting and avoiding moving obstacles in front of the AUV. The motion control subsystem uses position-trajectory control method to position AUV, move from point to point and along given path with given speed. Control system was tested in the multi-module simulation complex. Simulation showed good results – AUV successfully achieved given goals avoiding collisions not only with static obstacles, but also with mobile ones. That allows using the proposed control system for the groups of vehicles. Besides simulation, control system was implemented in hardware. AUV prototype passed tests in Azov Sea and proved its efficiency.

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:…”

“…Authors complete several projects concerning such vehicles, including development of mathematical model [1] and control system [2]. However, after the launch, periodical service and maintenance is crucial for the UVs.…”

Development of Algorithms for Control of Motor Boat as Multidimensional Nonlinear Object

“…1.a), refined mathematical model of the motor boat [2,4] can be described by the following equations:…”

“…One of the major tasks in creation of fast motor boats is development of control system and control algorithms providing boat movement along the stated path with the necessary speed [1,2,3]. It is known, that solution of this task requires precise mathematical model describing the boat movement.…”