title: ÐÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð¾Ð² ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð´Ð»Ñ Ð»Ð¾ÐºÐ°Ð»ÑÐ½Ð¾Ð¹ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸ Ð¸ Ð²ÐµÑÑÐ¸ÐºÐ°Ð»ÑÐ½Ð¾Ð¹ ÑÑÑÐºÐ¾Ð²ÐºÐ¸ Ð¿Ð¾Ð´Ð²Ð¾Ð´Ð½ÑÑ Ð°Ð¿Ð¿Ð°ÑÐ°ÑÐ¾Ð² Ð¿Ð¾ Ð´Ð°Ð½Ð½ÑÐ¼ Ð¡Ð¢Ð
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Investigation of control algorithms for local navigation and vertical docking of autonomous underwater vehicle based on vision system data
Creators: name: ÐÐ¾Ð½Ð´Ð°ÑÐµÐ½ÐºÐ¾, ÐÐ»ÑÑ
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ÐÐ
Ð´Ð¾Ðº-ÑÑÐ°Ð½ÑÐ¸Ñ
ÑÑÑÐºÐ¾Ð²ÐºÐ°
ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ
Ð·Ð°Ð´ÐµÑÐ¶ÐºÐ°
Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ðµ Ð´Ð¾Ðº-ÑÑÐ°Ð½ÑÐ¸Ð¸
AUV
docking station
docking
control system
delay
docking station moving

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description: The goal of the work is to study the influence of delays in the control system of an autonomous underwater vehicle (AUV) on the quality of its docking with the docking station and to determine the maximum allowable speed of the docking station during the docking process using two different docking control system algorithms. The object of research is the docking model, which includes: the AUV dynamics model, the STZ model and the model of the AUV docking control system with the docking station. The paper reviews the existing algorithms for AUV docking with the docking station, describes two algorithms for controlling the AUV docking with the docking station: one-level and two-level scheme. The maximum allowable delays in the AUV control channels during docking using the algorithms of a single-level and two-level control system are determined, and the influence of control delays on the power consumption of an underwater vehicle during the docking process is also investigated. In addition, the maximum allowable speeds of longitudinal, transverse movement and rotation along the course angle of the mobile docking station during docking are determined for two options for the control system: single-level and two-level.