| Autor: |
Spitsina, A. V., Starykh, G. K., Chernyshova, L. M., Zatekin, D. V., Doronin, D. A., Gavrilina, E. A. |
| Předmět: |
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| Zdroj: |
AIP Conference Proceedings; 2023, Vol. 2833 Issue 1, p1-7, 7p |
| Abstrakt: |
Nowadays, rating competitions in underwater robotics among students of various universities are becoming more and more popular. Competitions are held in the categories of remotely operated and autonomous uninhabited underwater vehicles. To ensure participation in two categories of competitions, it is advisable to develop a hybrid underwater robotic complex capable of operating both in remotely operated and autonomous modes. At the same time, a shore-based control module is an obligatory part of any underwater robotic system. Traditionally, the shore-based modules for underwater remotely operated and autonomous vehicles differ significantly from each other. Thus, the question arises of developing a hybrid shore-based module. However, the issue of constructing the software architecture, as well as the design of such a module, is insufficiently covered in the known literature, which hinders development of new hybrid underwater systems. To solve the problem, features of the robotic system working in autonomous and remotely operated modes were analyzed; and experience in developing and operating the competitive underwater vehicles by participants of the Hydronautics REC (Bauman MSTU) was taken into account. The concept of building a hybrid shore-based module is proposed, architecture of its software and design are described. In addition, results of testing the system during the Russian Cup competition in remotely operated underwater vehicles (Astrakhan, 2021), as well as of field experiments on the Kutum River (Volga River arm) and in the Stroginsky backwater (Moscow River) are presented. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
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