Synthesis of intelligent automatic control system of an autonomous underwater vehicle as a group agent





Aloba, Leo Tosin
Алоба, Лео Тосин

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Abstract. There are navigation problems when performing operations of autonomous underwater vehicles (AUVs) groups, and this article focuses on the effectiveness of controlling the coordinated motion of AUVs during operations in unknown environments with uncertainty to make operations more reliable and less goal redundant, making the AUVs operate in a coordinated motion. One of the main problems of AUVs group navigation is the collision with neighboring vehicles due to the uncertainty that arises during AUV group navigation. At the same time, improvement was required and a highly effective adaptive intelligent autonomous control system in the group transition (ACS GT) mode of a single AUV motion, as an agent that represents all members of the group, was synthesized. An example of a typical functioning AUV scheme with respect to the neighboring AUVs in a specific mission, such as surveying, tracking and search for sunken objects, is provided. The vehicles are controlled only in the horizontal plane and maneuver. The AUVs coordinated motion acting as a group to perform a specific task under conditions of underwater environment uncertainties, taking into account the nonholonomic characteristics of the AUVs, has become an important problem, since they represent significant problems for effective operations of the AUVs groups. A block diagram of fuzzy logic algorithm of the navigation environment situation modeling for a single AUV as a group agent is provided. Intelligent ACS GT is presented in three blocks – a Navigation Situation Model (NSM) in the immediate vicinity of the vehicle, a Navigation Threat Identifier (NTI) block, for detected navigation threat identification and, in fact, the ACS block of the individual AUV. The synthesis of the blocks is based on fuzzy logic system, which consists of precise (accurate) inputs, precise outputs and fuzzy rules. A synthesis was proposed to determine the distances between the vehicles and the derived distances, thus tuning the system and maneuvering to avoid collisions between the neighboring vehicles during operations.


Aloba, Leo Tosin. Synthesis of intelligent automatic control system of an autonomous underwater vehicle as a group agent = Cинтез інтелектуальної системи автоматичного керування автономним підводним апаратом як агентом групи / Leo Tosin Aloba // Shipbuilding & Marine Infrastructure. – 2019. – № 1 (11). – P. 74–84.

Ключові слова

autonomous underwater vehicle, group control, adhesion, cohesion, intelligent control system, автономний ненаселений підводний апарат, групове керування, адгезія, когезія, інтелектуальна система керування

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