Motion Control Model and HUV Dynamics for Patrolling Sea Areas with Complex Bottom Topography

Abstract The Patrolling sea areas is one of the main tasks of the HUV when performing both typical search and survey works and a number of special-purpose works when servicing marine infrastructures [1]. The task of patrolling includes a purposeful choice of the route of the HUV with the search and examination of objects (targets), which implies the use of effective control under conditions of uncertainty in the environment and a correct dynamic model of movement, taking into account possible errors in the initial data. Particularly difficult is the task of realizing the spatial movement of the HUV near the bottom with a variable relief and the presence of significant obstacles along the route of movement. In the general case, it is required to provide equidistant movement relative to the bottom with safe overcoming of obstacles and minimization of traffic costs [2]. The solution to the problem depends on the effectiveness of the executive bodies (propulsion and steering complex) and obstacle detection equipment (echolocation systems for forward and downward vision). The control algorithm is based on multi-channel rangefinder information to obstacles and the angular orientation of the AUV relative to the bottom topography profile. The structural and hydrodynamic characteristics of the hybrid vehicle obtained in [3] are used in the model of the dynamics of the HUV. The report presents the results of research on the issues under consideration based on modeling dynamic processes using software tools Simulink Matlab, StateFlow Simulink and available experimental data.