| Popis: |
When using a group of autonomous underwater vehicles for seismic exploration in subglacial conditions in the Arctic shelf, a number of problems arise, the solution of which must be obtained taking into account the features of conducting the seismic exploration. The purpose of the work is to analyze the problems arising in the conduct of seismic exploration using a group of vehicles, and determine the methods for their solution. At the same time, approaches to the formation of algorithms for the control system of the vehicles have been developed, which exclude the emergence of conflict situations between the vehicles. Features of the behavior of a group of vehicles in the conduct of seismic exploration are associated with the need to navigate each vehicle, keep the vehicle on a route trajectory with position adjustment, coordinate the performance of heterogeneous functions by individual units of the group. As a solution to the navigation problem, it is proposed to use a difference-ranging method, in which each vehicle determines its location by four positions of the emitter at different times. When solving the problem of holding the vehicle on a route trajectory, an algorithm for guiding an unoccupied uninhabited underwater vehicle has been used by controlling the vehicle along the angle between the line of sight and the specified trajectory. To ensure coordination of actions performed by each vehicle, a multi-agent approach has been used. At the same time, the capabilities and authorities of each agent vehicle, the algorithm for their interaction, the volume and content of messages in their communication with each other are determined. To ensure the interaction of vehicles, the option of using sonar modems is considered. The proposed solutions under certain conditions can cause a conflict in the system, therefore, to exclude it, a hierarchical multi-level scheme for the formation of algorithms for the control system of the vehicle is proposed. To test the proposed solutions for their compatibility, a mathematical model has been developed. The results of the numerical experiments make it possible to clarify the decisions taken, optimize the parameters of the methods used and evaluate the effectiveness of the proposed solutions. |
