АЛГОРИТМ МАНЕВРИРОВАНИЯ АВТОНОМНОГО НЕОБИТАЕМОГО ПОДВОДНОГО АППАРАТА ПРИ ПРОВОДКЕ СУДНА ЧЕРЕЗ ЗАМИНИРОВАННЫЙ РАЙОН

Abstract

One of the tasks assigned to the autonomous underwater vehicles (AUV) is the fightagainst mine danger, which includes: 1) search for and destroy mines in the mined area;2) ensure their own safety when passing through the mined area or when working in this area;3) ensure the navigation of ships (including submarines) through the mined area. AUV can beconsidered as a further development of mine-fighting equipment, since they have a number ofadvantages over mine-fighting ships: 1) exclude the loss of life in the event of a mine explosion;2) have a lower level of physical fields to which the fuses of sea mines react; 3) are able to maneuverat the optimal depth for searching and classifying mines. In view of this, the creation ofspecialized AUV to combat the mine danger is very important. The search for mines with thehelp of AUV can be carried out either in the interests of their destruction (clearing the area) orfor the purpose of guiding ships through the mined area. This article deals with the secondproblem. The description of the maneuvering algorithm of the AUV when ensuring the passageof a vessel through a mined area is given. The task is solved by detecting different types ofmines using hydroacoustic and magnetometric means of searching and classifying underwaterobjects and bypassing of the mines at a safe distance. To reduce the time required to solve thetask, the detected underwater objects are classified into the "mine-like object" and "other objects"classes. The use of the "mine-like object" class, which includes both the actual mines andobjects that are indistinguishable from mines at the distances of their detection by means ofmine search, allows you to avoid approaching detected underwater objects at a distance of theirconfident classification using high-frequency sonar and television equipment, and thereby increasethe safety of the AUV and reduce the time of passage through the mined area. The algorithmtakes into account the fact that the minimum safe distance between vessel and mine greatlyexceeds the range of detection of mines of different types that does not allow AUV to find asafe vessel passage through the mined area by a single crossing and requires complex maneuveringof the AUV. Algorithm is intended for implementation in the AUV control system.