Abstract
The article is devoted to a complex mathematical model of the functioning of an underwater robot that allows solving the problem of operational correction of a service task directly during its execution. The successful usage of UAV largely depends on the quality of preparation and programming of the UAV mission, including the current factors of the water environment. Since UAV works in an aquatic environment, the modeling of its functioning should be carried out taking into account both the environment itself and the dynamics of changes in its properties. The developed mathematical model was implemented in the form of a computer model and confirmed its operability within the declared ranges of initial conditions and initial data. The proposed complex mathematical model can be used for planning of assignments given available energy on board the UAV and allows to evaluate the energy for the operation of the on-board equipment after performing the UAV maneuver in the operating zone and the necessary reserves for the ascent of the unit, its detection and receiving aboard the carrier.
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