Abstract
Marine robots (unmanned surface vehicles) are actively used for various civil applications. One of the interesting tasks – automatic transportation of goods and people along rivers, seas and oceans – is being solved now. Control of the ship’s movement at the modern technological level allows to implement complex modes of operation with good speed and accuracy. However, if unmanned ship is used in ports and canals, it is very important to ensure that the task is performed both automatically and within certain time limits. These two requirements are specific for so-called terminal control that authors try to implement for marine robots taking the problem of surface vehicle docking as an example. The proposed solution consists of two stages and include obstacle avoidance method. Procedure of terminal control synthesis is provided as well as movement algorithm. Experiments were based upon the mathematical model used in real surface mini vessel “Neptune” and include simulation of docking in several different scenes with obstacles. Method of obstacle avoidance, proposed in this paper, is based on unstable mode. The unstable mode can be used directly but can also be used in a hybrid version that includes intelligent analysis of current situation and unstable mode of movement. In general, the unstable mode is based on a bionic approach; in particular, such an approach to avoiding obstacles can be observed in the behavior of fish.
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Change history
04 September 2020
The original version of this chapter was revised. The number in the funding statement was corrected to MK- 3099.2019.8.
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Funding
This work was supported by the Southern Federal University of the Russian Federation, internal grant No VnGr-07/2017-19, grants of the President of the Russian Federation for the state support of young Russian scientists MK- 3099.2019.8 “Methods for developing of an intelligent group control system of autonomous marine robotics”.
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Pshikhopov, V., Gurenko, B. (2020). Development and Research of a Terminal Controller for Marine Robots. In: Fujita, H., Fournier-Viger, P., Ali, M., Sasaki, J. (eds) Trends in Artificial Intelligence Theory and Applications. Artificial Intelligence Practices. IEA/AIE 2020. Lecture Notes in Computer Science(), vol 12144. Springer, Cham. https://doi.org/10.1007/978-3-030-55789-8_76
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