Selected Features of Autonomous Underwater Robot Dynamics under Near-Bottom Equidistant Motion Control

摘要

Search and survey missions of an autonomous underwater robot are usually associated with motion along equidistant trajectories near the bottom. The most difficult problem here is to control motion in a vertical plane in presence of obstacles in the bottom relief along the motion route. When the obstacles are detected using a multi-channel front-viewing echolocation system, equidistant motion of the vehicle is provided with tracking of the bottom relief profile. The dynamic model of motion with specific requirements for the structure and control parameters is studied. Comparative analysis of the dynamic properties of control system depending on the design and functional features of the actuating elements and the range-measuring echolocation system is presented.