Method of Reducing the Path Bypassing a Difficult Obstacles by an Autonomous Underwater Vehicle
Liubov Martynova, V.S. Melkanovich, V.V. Prokopovich · 2023
Considered the movement of an autonomous underwater vehicle in conditions difficult obstacles. In order to shorten the path of traversing the obstacle, it is proposed to switch to the movement "by snake" and "by the circle" at the expense of turning the stern handlebars. Such movement increases the amount of information about the boundary of the obstacle and increases the likelihood of selecting the shortest path bypassing the obstacle, reducing time and energy resources. Variants of movement "by snake" at various stages are considered: at the first detection of obstacles, at the circumvention of obstacles in a horizontal plane, when examining obstacles in a vertical plane by moving in a circle. Mathematical dependencies are given of calculation of parameters of "by snake", estimation of increase of the viewing band, time and energy consumption on movement "by snake", increase of probability of selection of the shortest path. The simulation and the results of the numerical experiment showed that under the considered conditions, the approach of the apparatus with the obstacle "by snake" resulted in a reduction of the traveled path while bypassing obstacles, saving time and energy resources by 20%.