Development of methods for autonomous implementation of technological operations by manipulative underwater vehicles

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Abstract

The article is devoted to the development of a set of methods designed to solve the urgent task of increasing the efficiency of performing expensive manipulative technological operations in the depths of the World Ocean using unmanned underwater vehicles (UUV) equipped with multilink manipulators (MM). Based on the proposed methods, systems for processing sensory information, recognizing the environment, target (control) signals formation and dynamic control of the UUV with MM are synthesized. Due to the coordinated operation of these systems, successful autonomous execution of contact manipulation operations in the UUV hovering mode above or near marine objects is ensured. The developed systems were implemented in hardware and software. In addition, the results of basin experiments and semi-natural modeling confirmed the operability and high efficiency of the proposed methods that expand the UUV functionality.

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About the authors

Alexander Y. Konoplin

Academician M. D. Ageev Institute of Marine Technology Problems, FEB RAS

Author for correspondence.
Email: kayur-prim@mail.ru
ORCID iD: 0000-0001-7554-1002

Candidate of Sciences in Technology, Leading Scientific Researcher

Russian Federation, Vladivostok

Nikita A. Krasavin

Academician M. D. Ageev Institute of Marine Technology Problems, FEB RAS

Email: krasyava061@gmail.com
ORCID iD: 0000-0003-1102-5409

Scientific Researcher

Russian Federation, Vladivostok

Alexander P. Yurmanov

Academician M. D. Ageev Institute of Marine Technology Problems, FEB RAS

Email: yurmanov_a@mail.ru
ORCID iD: 0000-0001-6849-3700

Scientific Researcher

Russian Federation, Vladivostok

Pavel A. Piatavin

Academician M. D. Ageev Institute of Marine Technology Problems, FEB RAS

Email: mcmaster988@gmail.com
ORCID iD: 0000-0002-0812-808X

Scientific Researcher

Russian Federation, Vladivostok

Vladimir V. Kostenko

Academician M. D. Ageev Institute of Marine Technology Problems, FEB RAS

Email: kosten.ko@mail.ru
ORCID iD: 0000-0002-3821-3787

Candidate of Sciences in Technology, Leading Scientific Researcher

Russian Federation, Vladivostok

Anna Y. Bykanova

Academician M. D. Ageev Institute of Marine Technology Problems, FEB RAS

Email: vladianna@mail.ru
ORCID iD: 0000-0002-3040-1345

Candidate of Sciences in Technology, Senior Scientific Researcher

Russian Federation, Vladivostok

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Supplementary files

Supplementary Files
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2. Fig. 1. Combination of point clouds Ci and Ciʹ (a) and the intersection point of the verification trajectory with the triangulation surfaces (b)

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3. Fig. 2. Experimental setup (a) and the results obtained with its help (b)

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4. Fig. 3. Point cloud of the object (a), superimposed trajectory (b)

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5. Fig. 4. NPA performing a contact operation; directions of action of force and moment vectors during contact of the working tool with the surface of the work object

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6. Fig. 5. MM performing cleaning of an object in the longitudinal (a) and transverse (c) planes, and the components of the vector force acting on the tool during movement along a straight line (b) and a semicircle (d)

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7. Fig. 6. NPA MMT-3500, equipped with MM

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