INTELLIGENT MISSION PLANNING TOOLS FOR AUTONOMOUS UNDERWATER VEHICLES WITH MULTILINK MANIPULATORS
V. V. Gribova, E. A. Shalfeeva, V. F. Filaretov, A. V. Zuev, D. A. Yukhimets
Institute of Automation and Control Processes Far Eastern Branch of the Russian Academy of Sciences (IACP FEB RAS), Vladivostok, Russia
Keywords: Autonomous unmanned underwater vehicles, Intelligent mission planning, Adaptive control, Underwater robotics
Abstract
Modern trends in underwater robotics development are focused on creating fully autonomous unmanned underwater vehicles (UUVs) equipped with multi-link manipulators (MLMs) and capable of performing complex research, manipulation, and technological operations in dynamic and uncertain underwater environments without direct operator involvement. The key challenge in UUV implementation is the generation and adaptive real-time adjustment of control programs based on data about the current environmental conditions obtained from the UUV's onboard sensors and MLM sensors. This paper presents a comprehensive set of tools for an intelligent UUV mission planner, including its information and software components, as well as development methodology. The proposed planner provides decomposition of strategic tasks into elementary operations with dynamic selection of their execution sequence and parameters depending on actual data and external conditions. The architecture of the developed software is based on principles of modularity and scalability, allowing the system to be adapted for various classes of UUVs and mission types. The presented solution contributes to the advancement of autonomous UUV control methods and can be used in designing advanced robotic systems for marine research, monitoring, and underwater technological operations.
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