Simulation of the Automated Control System for Monitoring Ponds with the Aid of a Miniature Unmanned Underwater Vehicle
Sergey Efimov, Sergey Knyazev, Sergey Fedorovich Jatsun · 2020 International Russian Automation Conference (RusAutoCon) · 2020
This paper contains the description and results of modeling a miniature autonomous underwater robot (MUUV) with an intelligent control system for monitoring reservoirs. The article shows a structural diagram of a prototype robot equipped with a number of sensors. Human-machine interaction described in combined mode when the operator monitors and controls the underwater robot periodically at certain times, while the robot carries out the movements set by the operator, but otherwise the operator does not control the position. Diagrams of the robot's movement when monitoring reservoirs are shown and optimal control algorithms are synthesized. A method for monitoring reservoirs using a mobile underwater robot has been formalized.