title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð³ÑÑÐ¿Ð¿Ð¾Ð¹ Ð½Ð°Ð´Ð²Ð¾Ð´Ð½ÑÑ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÑ ÑÑÐ´Ð¾Ð² Ð² Ð·Ð°Ð´Ð°ÑÐµ ÑÐºÐ°Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð°ÐºÐ²Ð°ÑÐ¾ÑÐ¸Ð¸ Ð¼ÐµÑÐ¾Ð´Ð°Ð¼Ð¸ Ð³Ð¸Ð´ÑÐ¾Ð°ÐºÑÑÑÐ¸ÑÐµÑÐºÐ¾Ð¹ ÑÑ Ð¾Ð»Ð¾ÐºÐ°ÑÐ¸Ð¸
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Development of a control system for a group of surface free vessels in the problem of scanning the water area by the methods of hydro-acoustic echolocation
Creators: name: Ð¡Ð¸Ð´Ð¾ÑÐµÐ½ÐºÐ¾, ÐÐ°Ð½Ð¸Ð»
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2022
Subjects: ÐÐ°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
Ð¡ÑÐ´Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ðµ
Ð±ÐµÐ·ÑÐºÐ¸Ð¿Ð°Ð¶Ð½ÑÐ¹ ÐºÐ°ÑÐµÑ
Ð½ÐµÑÐµÑÐºÐ°Ñ Ð»Ð¾Ð³Ð¸ÐºÐ°
Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ñ
ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ
Ð½Ð°ÑÑÑÐ½ÑÐµ Ð¸ÑÐ¿ÑÑÐ°Ð½Ð¸Ñ
unmanned surface vehicle
fuzzy logic
guidance
navigation and control
field tests

description: ÐÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° Ð¿ÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ, ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ Ð¸ ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð±Ð¾ÑÑÐ¾Ð²Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð±ÐµÐ·ÑÐºÐ¸Ð¿Ð°Ð¶Ð½ÑÐ¼ ÑÑÐ´Ð½Ð¾Ð¼. Ð¦ÐµÐ»Ñ ÑÐ°Ð±Ð¾ÑÑ â Ð¾ÑÐ½Ð¾Ð²ÑÐ²Ð°ÑÑÑ Ð½Ð° Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð½Ð¾Ð¹ Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð¹ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÑÐ´Ð½Ð¾Ð¼, Ð¿Ð¾ÑÑÑÐ¾Ð¸ÑÑ ÑÐ¸ÑÑÐµÐ¼Ñ Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð´Ð»Ñ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½Ð¾Ð³Ð¾ ÐºÐ°ÑÐµÑÐ°. Ð ÑÐ¾Ð´Ðµ ÑÐ°Ð±Ð¾ÑÑ ÑÐµÑÐ°Ð»Ð¸ÑÑ ÑÐ»ÐµÐ´ÑÑÑÐ¸Ðµ Ð·Ð°Ð´Ð°ÑÐ¸: ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¸ ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÑÐµÐ³ÑÐ»ÑÑÐ¾ÑÐ° Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð»Ð¸Ð½ÐµÐ¹Ð½Ð¾Ð³Ð¾ Ð°ÐºÑÑÐ°ÑÐ¾ÑÐ°; ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¸ ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÑÐ¸ÑÑÐµÐ¼Ñ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ñ ÐºÑÑÑÐ° ÑÑÐ´Ð½Ð° Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð½ÐµÑÐµÑÐºÐ¾Ð³Ð¾ ÑÐµÐ³ÑÐ»ÑÑÐ¾ÑÐ°; ÑÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ñ ÑÐ¸ÑÑÐµÐ¼Ñ Ð¾Ð±ÑÐ°Ð±Ð¾ÑÐºÐ¸ Ð´Ð°Ð½Ð½ÑÑ Ð¸ ÐºÐ°Ð»Ð¸Ð±ÑÐ¾Ð²ÐºÐ¸ Ð´Ð°ÑÑÐ¸ÐºÐ¾Ð² ÐÐÐÐ¡; ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¸ ÑÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ñ Ð³ÑÑÐ¿Ð¿Ð¾Ð²Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð´Ð²ÑÑ ÑÑÐ´Ð¾Ð² Ð´ÑÑÐ³ Ð·Ð° Ð´ÑÑÐ³Ð¾Ð¼. ÐÐ»Ñ ÑÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ»Ð¸ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Ð½ÐµÑÐµÑÐºÐ¾Ð¹ Ð»Ð¾Ð³Ð¸ÐºÐ¸ Ð¸ ÐÐÐ ÑÐµÐ³ÑÐ»ÑÑÐ¾ÑÑ. ÐÐµÑÐ¸ÑÐ¸ÐºÐ°ÑÐ¸Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´Ð¸Ð»Ð°ÑÑ Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð¼ÐµÑÐ¾Ð´Ð¾Ð»Ð¾Ð³Ð¸Ð¸ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ¾Ð² Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð² Ð¿Ð¾Ð²Ð¾ÑÐ¾ÑÐµ Ð¸ Ð·Ð¸Ð³Ð·Ð°Ð³. Ð ÐºÐ°ÑÐµÑÑÐ²Ðµ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÑÐ´Ð½Ð¾Ð¼ Ð±ÑÐ»Ð° Ð²ÑÐ±ÑÐ°Ð½Ð° Ð¼Ð¾Ð´ÐµÐ»Ñ Nomoto.Ð ÑÐ¾Ð´Ðµ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ»Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° Ð¸ Ð¿ÑÐ¾ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð° Ð½Ð° Ð±Ð¾ÑÑÑ Â«ÐÐ°Ð´ÐµÑ-ÐÂ» Ð±Ð¾ÑÑÐ¾Ð²Ð°Ñ ÑÐ¸ÑÑÐµÐ¼Ð° Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð±ÐµÐ·ÑÐºÐ¸Ð¿Ð°Ð¶Ð½ÑÐ¼ ÐºÐ°ÑÐµÑÐ¾Ð¼ ÐºÐ°ÑÐ°Ð¼Ð°ÑÐ°Ð½Ð½Ð¾Ð³Ð¾ ÑÐ¸Ð¿Ð°. Ð¡Ð¸ÑÑÐµÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð±Ð°Ð·Ð¸ÑÑÐµÑÑÑ Ð½Ð° Ð¼Ð¸ÐºÑÐ¾ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐµ STM32 Ð¸ Ð¾Ð¿ÐµÑÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ðµ ÑÐµÐ°Ð»ÑÐ½Ð¾Ð³Ð¾ Ð²ÑÐµÐ¼ÐµÐ½Ð¸ FreeRTOS. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½Ð°Ñ ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¿Ð¾Ð·Ð²Ð¾Ð»ÑÐµÑ ÑÐ½Ð¸Ð·Ð¸ÑÑ ÑÑÑÐ´Ð¾ÐµÐ¼ÐºÐ¾ÑÑÑ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¸Ñ Ð³Ð¸Ð´ÑÐ¾Ð³ÑÐ°ÑÐ¸ÑÐµÑÐºÐ¸Ñ ÑÐ°Ð±Ð¾Ñ. ÐÐ°Ð»ÐµÐµ Ð¿Ð»Ð°Ð½Ð¸ÑÑÐµÑÑÑ Ð¸Ð½ÑÐµÐ³ÑÐ°ÑÐ¸Ñ ÑÐ¸ÑÑÐµÐ¼Ñ Ð½Ð° Ð±Ð¾ÑÑ ÑÐ°Ð·ÑÐ°Ð±Ð°ÑÑÐ²Ð°ÐµÐ¼Ð¾Ð³Ð¾ Ð³Ð¸Ð´ÑÐ¾Ð³ÑÐ°ÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ ÐºÐ°ÑÐµÑÐ° Â«ÐÐ¸Ð·Ð¸Ñ-ÐÂ» Ð´Ð»Ð¸Ð½Ð¾Ð¹ 7 Ð¼ÐµÑÑÐ¾Ð², Ð¾ÑÐ½Ð°ÑÐµÐ½Ð½Ð¾Ð³Ð¾ Ð´Ð¸Ð·ÐµÐ»ÑÐ½ÑÐ¼ Ð´Ð²Ð¸Ð³Ð°ÑÐµÐ»ÐµÐ¼ Ð¸ Ð¼Ð¾Ð´ÑÐ»ÐµÐ¼ Ð³Ð¸Ð´ÑÐ¾Ð»Ð¾ÐºÐ°ÑÐ¾ÑÐ° Ð±Ð¾ÐºÐ¾Ð²Ð¾Ð³Ð¾ Ð¾Ð±Ð·Ð¾ÑÐ°.
description: The final qualifying work is devoted to the design, development and testing of an onboard control system for an unmanned vessel. The purpose of the work is to build an autonomous control system for an unmanned boat based on the built-in mathematical dynamic model of ship control. In the course of the work, the following tasks were solved: development and testing of a linear actuator position controller; development and testing of a vessel course control system based on a fuzzy controller; implementation of a system for processing and calibrating SINS sensor data; development and implementation of a group system for following two ships one after another.To implement the work, fuzzy logic algorithms and PID controllers were used. The verification of the model was carried out on the basis of the methodology of experiments of movement in a turn and zig-zag. The Nomoto model was chosen as the dynamic ship control model.In the course of the work, an on-board autonomous control system for an unmanned catamaran-type boat was developed and tested on board the Kadet-M. The control system is based on the STM32 microcontroller and the FreeRTOS real-time operating system. The developed control system makes it possible to reduce the complexity of hydrographic works. Further, it is planned to integrate the system on board the developed hydrographic boat "Vizir-M" 7 meters long, equipped with a diesel engine and a side-scan sonar module.