Problematic Issues of Intellectualizing the Control System of Autonomous Underwater Vehicles
https://doi.org/10.17587/mau.21.622-629
Abstract
The paper considers ways of intellectualizing the control processes of autonomous underwater vehicles (AUVs) by the example of solving three problems, on which the successful use of AUVs largely depends. The first problem is to create an AUV control system (CS), which ensures the achievement of the mission’s objective in the event of emergencies caused by both external and internal reasons, as well as deliberate and unintentional counteraction. It is shown that for the construction of the AUV’s CS the decentralized multi-agent structure is most suitable, in which each AUV system is an independent intellectual agent with its own control system. The control system must be equipped with a set of adaptive algorithms that ensure: control of AUV in the event of emergency situations, taking into account restrictions on the supply of electric energy, speed, accuracy of autonomous underwater navigation, range of hydro-acoustic communication; rational distribution of energy resources by AUV systems in accordance with the current situation; maintaining the functional stability of the AUV with a partial malfunction of technical means. The second problem is to create an underwater navigation system that ensures the accomplishment of AUV missions at great distances from the base point. Since AUV navigation using only on-board means (inertial navigation system and lag) does not provide the necessary accuracy, a prerequisite for AUV navigation over long distances is to conduct an observation using external sources, the choice of which in the circumstances is a non-trivial task. The third problem is to create a network underwater communication system (NUCS), which provides for the group application of AUVs. The ground analogue of NUCS is network radio communication. But if the latter is fairly well developed, then the former only takes the initial steps. This is due to both the later practical relevance of NUCS, and many fundamental physical factors that impede the development of NUCS, which include: a substantially limited frequency band that can be used in practice for signal transmission; a large propagation time of the hydroacoustic signal compared to the radio signal; the formation of extended shadow zones and fading of the connected signal due to its multipath propagation; significant Doppler distortions, fast variability of the characteristics of the hydroacoustic medium.
Keywords
autonomous underwater vehicle,
control system,
underwater navigation,
network underwater communication
Supporting agencies: This work was supported by the Russian Foundation for Basic Research (project 19-08-00253).
About the Authors
A. I. Mashoshin
JSC "Concern" Central Research Institute "Elektropribor"
Russian Federation
St. Petersburg
Russian Federation
St. Petersburg
I. V. Pashkevich
JSC "Concern" Central Research Institute "Elektropribor"
Russian Federation
St. Petersburg
Russian Federation
St. Petersburg
References
1. Ageev M. D., et al. Autonomous underwater robots. Systems and technologies, Moscow, Nauka, 2005, 400 p. (in Russian).
2. Inzartsev A. V., et al. The use of an autonomous underwater vehicle for scientific research in the Arctic, Underwater Research and Robotics, 2007, no. 2 (4), pp. 5—14 (in Russian).
3. Bozhenov Yu. A. The use of autonomous underwater vehicles for the study of the Arctic and Antarctic, Fundamental and Applied Hydrophysics, 2011, vol. 4, no. 1, pp. 4—68 (in Russian).
4. Millar G., Mackay L. Maneuvering Under the Ice, Sea Technology, 2015, vol. 56, no. 4, pp. 35—38.
5. Gizitdinova M. R., Kuzmitsky M. A. Mobile underwater robots in modern oceanography and hydrophysics, Fundamental and Applied Hydrophysics. 2010, vol. 3, no. 1, pp. 4—13 (in Russian).
6. Illarionov G. Yu., Sidenko K. S., Bocharov L. Yu. A threat from the depths: XXI century, Khabarovsk, State Unitary Enterprise "Khabarovsk Regional Printing House", 2011, 304 p. (in Russian).
7. Belousov I. Modern and perspective autonomous underwater vehicles of the US Navy, Foreign Military Review, 2013, no. 5, pp. 79—88 (in Russian).
8. Kuzmitsky M. A., Gizitdinova M. R. Mobile underwater robots in solving the problems of the Navy: Modern technologies and prospects, Fundamental and Applied Hydrophysics, 2011, vol. 4, no. 3, pp. 37—48 (in Russian).
9. Decree of the President of the Russian Federation No. 490 of 10.10.2019 (in Russian).
10. Boreyko A. A. et al. AUV control system of great autonomy based on a multi-agent approach, Underwater Research and Robotics, 2019, no. 2(28), pp. 23—31 (in Russian).
11. Butler H., at al. The GeoJSON Format, RFC 7946. The Internet Engineering Task Force, available at: https://tools.ietf. org/html/rfc7946.
12. Procedural Reasoning System User’s Guide. A Manual for Version 2.0. SRI International, 2001, available at: http://www. ai.sri.com/~prs/prs-manual.pdf.
13. Gorodetsky V. I., Grushinsky M. S., Khabalov A. V. Multiagent systems (review), Artificial Intelligence News, 1998, no. 2, pp. 64—116 (in Russian).
14. Rzhevsky G. A., Skobelev P. O. How to manage complex systems? Multi-agent technologies for creating intelligent enterprise management systems, Samara, Ofort, 2015, 290 p. (in Russian).
15. Kinsey J. C., Eustice R. M., Whitcomb L. L. A Survey of Underwater Vehicle Navigation: Recent Advances and new Challenges, IFAC Conference on maneuvering and control of marine craft. 2006, Lisbon. Portugal.
16. Kebkal K. G., Mashoshin A. I. AUV acoustic positioning methods, Gyroscopy and Navigation, 2017, vol. 8, no. 1, pp. 80—89 (in Russian).
17. Maleev P. I. Problems of AUV navigation instruments and possible solutions, Navigation and hydrography, 2015, no. 39, pp. 7—11.
18. Karetnikov VV, Milyakov D. F., Bryanova Y. D. Navigation support of the Northern Sea Route: GNSS functional additions, Marine Radioelectronics, 2018, no. 2 (64), pp. 8—11 (in Russian).
19. Karetnikov V. V. et al. Navigation support of the Northern Sea Route: problems and development prospects, Marine Radioelectronics, 2017, no. 4(62), pp. 18—22 (in Russian).
20. Morgunov Yu. N. at al Experimental testing of high-precision underwater acoustic ranging technology, Acoustic Journal, 2018, vol. 64, no. 2, pp. 191—196 (in Russian).
21. DARPA Broad Agency Announcement Positioning System for Deep Ocean Navigation (POSYDON), Strategic Technology Office, DARPA-BAA-15-30.
22. Stepanov O. A., Toropov A. B. Nonlinear filtering methods in the task of navigating geophysical fields, Gyroscopy and Navigation, 2015, no. 3, pp. 102—125; 2015, no. 4, pp. 147—159 (in Russian).
23. Desset S., Damus R., Morash J., Bechaz C. Use of GIBs in AUVs for underwater archaeology, Sea Technology, 2003, vol. 44, no. 12, pp. 22—27.
24. Kebkal K. G., Mashoshin A. I., Morozs N. V. Solutions for Underwater Communication and Positioning Network Development, Gyroscopy and Navigation, 2019, vol. 10, no. 3, pp. 161—179 (in Russian).
25. Domingo M. C. An overview of the internet of underwater things, Journal of Network and Computer Applications, 2012, vol. 35, no. 6, pp. 1879—1890.
26. Heidemann J., Stojanovic M., Zorzi M. Underwater sensor networks: Applications, advances, and challenges, Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences, 2012, vol. 370, no. 1958, pp. 158—175.
27. Akyildiz I. F., Pompili D., Melodia T. Underwater acoustic sensor networks: research challenges, Ad Hoc Networks, 2005, vol. 3, no. 3, pp. 257—279.
28. Lmai S., Chitre M., Laot C., Houcke S. Throughputefficient super-TDMA MAC transmission schedules in ad hoc linear underwater acoustic networks, IEEE Journal of Oceanic Engineering, 2017, vol. 42, pp. 156—174.
29. Lmai S., Chitre M., Laot C., Houcke S. ThroughputMaximizing Transmission Schedules for Underwater Acoustic Multihop Grid Networks, IEEE Journal of Oceanic Engineering, 2015, vol. 40, pp. 853—863.
30. Diamant R., Lampe L. Spatial Reuse Time-Division Multiple Access for Broadcast Ad Hoc Underwater Acoustic Communication Networks, IEEE Journal of Oceanic Engineering, 2011, vol. 36, no. 2, pp. 172—185.
31. Kredo K., Djukic P., Mohapatra P. STUMP: Exploiting Position Diversity in the Staggered TDMA Underwater MAC Protocol, Proc. of IEEE INFOCOM, 2009.
32. Chirdchoo N., Soh W. S., Chua K. C. MU-Sync: A time synchronization protocol for underwater mobile networks, Proc. of the ACM International Workshop on Underwater Networks, 2008.
33. Knappe S. at al. A microfabricated atomic clock, Applied Physics Letters, 2004, vol. 85, no. 9, pp. 1460—1462.
34. Gardner T., Collins J. A. Advancements in high-performance timing for long term underwater experiments: A comparison of chip scale atomic clocks to traditional microprocessorcompensated crystal oscillators, Proc. IEEE Oceans Conf., 2011.
35. Kebkal K. G. et al. Underwater acoustic modems with integrated atomic clocks for one-way travel-time underwater vehicle positioning, Proc. Underwater Acoustics Conference and Exhibition (UACE), 2017.
Review
For citations:
Mashoshin A.I., Pashkevich I.V. Problematic Issues of Intellectualizing the Control System of Autonomous Underwater Vehicles. Mekhatronika, Avtomatizatsiya, Upravlenie. 2020;21(11):622-629. (In Russ.) https://doi.org/10.17587/mau.21.622-629
Views:
745
.png)
Email this article 