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

Authors

  • Aleksandr Yu. Konoplin Academician M. D. Ageev Institute of Marine Technology Problems, FEB RAS, Vladivostok, Russia
  • Nikita A. Krasavin Academician M. D. Ageev Institute of Marine Technology Problems, FEB RAS, Vladivostok, Russia
  • Alexander P. Yurmanov Academician M. D. Ageev Institute of Marine Technology Problems, FEB RAS, Vladivostok, Russia
  • Pavel A. Piatavin Academician M. D. Ageev Institute of Marine Technology Problems, FEB RAS, Vladivostok, Russia
  • Vladimir V. Kostenko Academician M. D. Ageev Institute of Marine Technology Problems, FEB RAS, Vladivostok, Russia
  • Anna Yu. Bykanova Academician M. D. Ageev Institute of Marine Technology Problems, FEB RAS, Vladivostok, Russia

Keywords:

unmanned underwater vehicle, multilink manipulator, position-force control, contact operations, control system, vision system, object identification, trajectory construction

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.

Author Biographies

Aleksandr Yu. Konoplin, Academician M. D. Ageev Institute of Marine Technology Problems, FEB RAS, Vladivostok, Russia

Candidate of Sciences in Technology, Leading Scientific Researcher 

https://orcid.org/0000-0001-7554-1002

Nikita A. Krasavin, Academician M. D. Ageev Institute of Marine Technology Problems, FEB RAS, Vladivostok, Russia

Scientific Researcher 

https://orcid.org/0000-0003-1102-5409

Alexander P. Yurmanov, Academician M. D. Ageev Institute of Marine Technology Problems, FEB RAS, Vladivostok, Russia

Scientific Researcher 

https://orcid.org/0000-0001-6849-3700

Pavel A. Piatavin, Academician M. D. Ageev Institute of Marine Technology Problems, FEB RAS, Vladivostok, Russia

Scientific Researcher 

https://orcid.org/0000-0002-0812-808X

Vladimir V. Kostenko, Academician M. D. Ageev Institute of Marine Technology Problems, FEB RAS, Vladivostok, Russia

Candidate of Sciences in Technology, Leading Scientific Researcher

https://orcid.org/0000-0002-3821-3787

Anna Yu. Bykanova, Academician M. D. Ageev Institute of Marine Technology Problems, FEB RAS, Vladivostok, Russia

Candidate of Sciences in Technology, Senior Scientific Researcher 

 https://orcid.org/0000-0002-3040-1345

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Published

2024-08-21

How to Cite

Konoplin А. Ю., Krasavin Н. А., Yurmanov А. П., Piatavin П. А., Kostenko В. В., & Bykanova А. Ю. (2024). Development of methods for autonomous implementation of technological operations by manipulative underwater vehicles. Vestnik of the Far East Branch of the Russian Academy of Sciences, (1), 54–71. Retrieved from http://vestnikdvo.ru/index.php/vestnikdvo/article/view/1161

Issue

No. 1 (2024)

Section

To the 300th anniversary of the Russian Academy of Sciences