Abstract
Coverage of the underwater situation is an important task in the system of control of coastal water areas. As an effective means of detecting and identifying objects, it is recommended to use autonomous uninhabited underwater vehicles with a radio beacon, as they have a number of advantages over conventional autonomous and tethered underwater vehicles. The publication considers a class of problems solved with the help of autonomous uninhabited underwater vehicles with a radio beacon. Possible operational modes of these devices and special features of their control are distinguished. The complexity of automatic control of movement of such devices is conditioned with the presence of a low-inertia radio beacon and a tether. Therefore, the tether’s impact on the device has a constantly changing nature. A generalized structure of the automatic control system of an autonomous uninhabited underwater vehicle with a radio beacon is proposed. The system is organized by a hierarchical principle, which simplifies the process of synthesizing the laws governing the executive mechanisms of the device.
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