Simulation of the Autonomous Unmanned Underwater Vehicle Control System

Abstract

The creation of an effective autonomous underwater vehicles (AUV) control system is one of the main problems in the development of underwater robotics. The AUV control system must have the ability to implement complex adaptive algorithms. Since the algorithms implemented by the AUV control system are difficult to investigate in real conditions, they must be worked out by modeling using a special stand that fully and adequately reproduces the conditions for performing a real mission. The paper presents the structure of the multi-agent AUV control system, describes the structure of the software of the AUV control system modeling stand, presents the results of modeling the heavy-class AUV control system.