Abstract
This paper examines the results of work undertaken by Saint-Petersburg State Marine Technical University (SMTU) as part of a project involving research into the creation of a multi-agent sensory network based on marine robotic platforms (MRP). In the context of the works mentioned, creation of a micro autonomous underwater vehicle (µAUV) is considered. High maneuverability, the availability of a modular architecture and functions of the group use are required for the developed µAUV. The article describes steps of the vehicle creation: concept development, modeling, design, construction, simulation of the implementation of various vehicle group mission scenarios (Solving the task of monitoring the seabed area). A standard chassis which allows the assembly of all systems, units and mechanisms of the device in minimum dimensions, has been established. Within the project, a software and hardware architecture of the information system of the vehicle was developed, as well as a model of interaction between the µAUV, the wave glider and control center. The work results in two full-scale experimental samples of µAUV capable of working in a group together with the wave gliders, performing the functions of a repeater signal through the environmental boundary, and simulation results of implementing the mission by a group of developed µAUV.
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References
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Zanin, V. et al. (2017). Open-Source Modular µAUV for Cooperative Missions. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2017. Lecture Notes in Computer Science(), vol 10459. Springer, Cham. https://doi.org/10.1007/978-3-319-66471-2_30
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DOI: https://doi.org/10.1007/978-3-319-66471-2_30
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