Концепция системы динамического позиционирования необитаемых подводных аппаратов малого класса на основе визуальной одометрии
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Научный журнал Моделирование, оптимизация и информационные технологииThe scientific journal Modeling, Optimization and Information Technology
Online media
issn 2310-6018

Concept of dynamic positioning system for unmanned small-class underwater vehicles based on visual odometry

Aliagaev A. R.,  idAzhmukhamedov I. M., Khomenko T. V. 

UDC 629.584
DOI: 10.26102/2310-6018/2024.46.3.029

  • Abstract
  • List of references
  • About authors

The article is devoted to the actual problem of underwater robotics - the problem of dynamic positioning of unmanned underwater vehicles of small class. Particular attention is paid to the methods of navigation of unmanned underwater vehicles and methods for creating a dynamic positioning system, including methods for the synthesis of an observer, a regulator and methods for distributing control actions on the propulsion and steering complex of unmanned underwater vehicles. It is revealed that in the existing dynamic positioning systems, expensive hydro acoustic navigation systems and Doppler speed meters are mainly used to generate feedback on the position and speed of unmanned underwater vehicles. Not all unmanned submersibles of the small class of the budget segment are equipped with such systems, while video systems and inertial sensors are present in almost every device. With the development of onboard computing facilities, it becomes possible to use visual odometry algorithms for navigation of unmanned underwater vehicles based on data from a video system as an alternative to hydro acoustic navigation in the task of dynamic positioning. The concept of architecture of the system of dynamic positioning of unmanned underwater vehicles of small class based on visual odometry is proposed, which helps to reduce the cost of navigation equipment and allows to increase the productivity of underwater technical work.

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Aliagaev Albert Ruslanovich

Astrakhan State University named after V.N. Tatishchev

Astrakhan, Russian Federation

Azhmukhamedov Iskandar Maratovich

WoS | Scopus | ORCID |

Astrakhan State University named after V.N. Tatishchev

Astrakhan, Russian Federation

Khomenko Tatyana Vladimirovna
Doctor of Technical Sciences, Associate Professor

Astrakhan State Technical University

Astrakhan, Russian Federation

Keywords: dynamic positioning, unmanned underwater vehicle, navigation system, visual odometry, control system

For citation: Aliagaev A. R., Azhmukhamedov I. M., Khomenko T. V., Concept of dynamic positioning system for unmanned small-class underwater vehicles based on visual odometry. Modeling, Optimization and Information Technology. 2024;12(3). URL: https://moitvivt.ru/ru/journal/pdf?id=1695 DOI: 10.26102/2310-6018/2024.46.3.029 (In Russ).

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Full text in PDF

Received 16.09.2024

Revised 25.09.2024

Accepted 27.09.2024

Published 30.09.2024