Problematic Issues of Intellectualizing the Control System of Autonomous Underwater Vehicles

Abstract

The paper considers ways of intellectualizing the control processes of autonomous underwater vehicles (AUVs) by the example of solving three problems, on which the successful use of AUVs largely depends. The first problem is to create an AUV control system (CS), which ensures the achievement of the mission’s objective in the event of emergencies caused by both external and internal reasons, as well as deliberate and unintentional counteraction. It is shown that for the construction of the AUV’s CS the decentralized multi-agent structure is most suitable, in which each AUV system is an independent intellectual agent with its own control system. The control system must be equipped with a set of adaptive algorithms that ensure: control of AUV in the event of emergency situations, taking into account restrictions on the supply of electric energy, speed, accuracy of autonomous underwater navigation, range of hydro-acoustic communication; rational distribution of energy resources by AUV systems in accordance with the current situation; maintaining the functional stability of the AUV with a partial malfunction of technical means. The second problem is to create an underwater navigation system that ensures the accomplishment of AUV missions at great distances from the base point. Since AUV navigation using only on-board means (inertial navigation system and lag) does not provide the necessary accuracy, a prerequisite for AUV navigation over long distances is to conduct an observation using external sources, the choice of which in the circumstances is a non-trivial task. The third problem is to create a network underwater communication system (NUCS), which provides for the group application of AUVs. The ground analogue of NUCS is network radio communication. But if the latter is fairly well developed, then the former only takes the initial steps. This is due to both the later practical relevance of NUCS, and many fundamental physical factors that impede the development of NUCS, which include: a substantially limited frequency band that can be used in practice for signal transmission; a large propagation time of the hydroacoustic signal compared to the radio signal; the formation of extended shadow zones and fading of the connected signal due to its multipath propagation; significant Doppler distortions, fast variability of the characteristics of the hydroacoustic medium.