Group control of autonomous underwater vehicles during execution of marine search operations
Сергій Володимирович Блінцов, Фук Тхы Доан · Eastern-European Journal of Enterprise Technologies · 2013
The features of control of the group of autonomous unmanned underwater vehicles in conditions of the uncertainty of the environment and own technical characteristics of underwater vehicles were considered. The generalized structure of the five-level system of group control of autonomous unmanned underwater vehicles was developed, which includes the level of megacontrol of several groups of vehicles, levels of strategic, tactical and local control of the group of underwater vehicles, level of quality control of group control of vehicles. The main tasks of the organization of the automated control of groups of underwater vehicles were formulated, which include the formation and support of spatial configuration of the group, flexibility of the group structure during the execution of underwater mission, navigation safety, reliability of internal communications of the group of vehicles and their search characteristics. The specializations of separate underwater vehicles and separate groups of vehicles were proposed for the solution of underwater search problems, problems of communication between the vehicles themselves and the base, problems of ensuring navigational safety at the group use of underwater vehicles