| Autor: |
Zatekin, D. V., Doronin, D. A., Spitsina, A. V., Starykh, G. K., Chernyshova, L. M., Gavrilina, E. A. |
| Předmět: |
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| Zdroj: |
AIP Conference Proceedings; 2023, Vol. 2833 Issue 1, p1-7, 7p |
| Abstrakt: |
Currently, popularity of competitions in underwater robotics between universities is growing. Competitions are held in two categories of unmanned underwater vehicles: remotely operated and autonomous. Participants face a challenge: preparing for a single type of competition or developing a hybrid underwater vehicle capable of operating in both modes. The paper presents description of the hybrid robotic system developed by the Hydronautics ERYC team of the Bauman Moscow State Technical University to participate in competitions in the two categories. To implement the hybrid operation mode, the system is based on the concepts of modularity, scalability and maintainability. The control system is written using ROS, has a three-level structure and is divided into strategic, tactical and executive levels. The article presents main technical characteristics, block diagrams of the system main units and describes software and control system architecture. System operability was confirmed during participation in competitions both in remotely operated underwater vehicles: victory in the Russian Cup in ROUV (Astrakhan, 2021), Russian-Chinese competitions (Vladivostok, 2019), and in autonomous underwater vehicles: 4th place in the SAUVC (Singapore, 2019). In addition, the complex was successfully checked during field trials in the Volga River, as well as in the Moscow River. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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