Optimization of an algorithm for payload delivery by automatic underwater vehicle

Control systems


Malyshev V. V.*, Kabanov D. S.**

Moscow Aviation Institute (National Research University), 4, Volokolamskoe shosse, Moscow, А-80, GSP-3, 125993, Russia

*e-mail: veniaminmalyshev@mail.ru
**e-mail: kabanovds@mail.ru


A problem of payload delivery by an automatic underwater vehicle (AUV) to a given point is considered in this paper. Optimal algorithms for different AUV motion stages are developed. The essence of algorithms consists in numerical definition of control actions using Pontryagin's maximum principle. The solution is obtained under conditions such as precision requirements and constraints on the control variables. Accuracy evaluation of payload delivery by AUV is performed. Numerical calculations of AUV dynamics and collected statistical data using the simulation model are presented.


automatic underwater vehicle, Pontryagin's maximum principle, predictive model, accuracy evaluation.


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