Modeling the management of a service underwater vehicle while maneuvering in an environment with obstacles
Abstract Difficulty in the development of the Arctic and the Far North are associated not only with the harsh natural conditions, but also with extreme professional risk. High-risk underwater operations at industrial facilities requires for underwater robots. Many works (inspection, docking with man...
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crioppubl:10.1088/1755-1315/302/1/012058 2024-06-02T08:02:25+00:00 Modeling the management of a service underwater vehicle while maneuvering in an environment with obstacles Vasilyev, I Leontyev, V Polovko, S 2019 http://dx.doi.org/10.1088/1755-1315/302/1/012058 https://iopscience.iop.org/article/10.1088/1755-1315/302/1/012058/pdf https://iopscience.iop.org/article/10.1088/1755-1315/302/1/012058 unknown IOP Publishing http://creativecommons.org/licenses/by/3.0/ https://iopscience.iop.org/info/page/text-and-data-mining IOP Conference Series: Earth and Environmental Science volume 302, issue 1, page 012058 ISSN 1755-1307 1755-1315 journal-article 2019 crioppubl https://doi.org/10.1088/1755-1315/302/1/012058 2024-05-07T14:03:02Z Abstract Difficulty in the development of the Arctic and the Far North are associated not only with the harsh natural conditions, but also with extreme professional risk. High-risk underwater operations at industrial facilities requires for underwater robots. Many works (inspection, docking with manifolds, etc.) are associated with operations in an environment with obstacles. The use of robotic systems is a natural choice in these conditions, especially at offshore facilities. The most difficult and dangerous are underwater operations on offshore production platforms and transporting offshore pipelines. For high-risk underwater operations at industrial facilities, service autonomous underwater vehicles (PA) are required. Many works (inspection, operations on manifolds docked with collectors, etc.) are associated with operations in an environment with obstacles; therefore the kinematic scheme of the underwater vehicle should provide increased maneuverability and ease of use when working in an environment with obstacles. When developing the appropriate control mode for the underwater vehicle (UV), it is important to consider the dynamic parameters of the UV when solving the problem of its positioning (the positioning problem itself can be solved by means of a technical vision system - TVS). The article discusses two generalized models of UV for work on man-made objects and the results of computational experiments that simulate the reduction of UV to a target point, the coordinates of which are determined using the TVS. Article in Journal/Newspaper Arctic IOP Publishing Arctic IOP Conference Series: Earth and Environmental Science 302 1 012058 |
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Abstract Difficulty in the development of the Arctic and the Far North are associated not only with the harsh natural conditions, but also with extreme professional risk. High-risk underwater operations at industrial facilities requires for underwater robots. Many works (inspection, docking with manifolds, etc.) are associated with operations in an environment with obstacles. The use of robotic systems is a natural choice in these conditions, especially at offshore facilities. The most difficult and dangerous are underwater operations on offshore production platforms and transporting offshore pipelines. For high-risk underwater operations at industrial facilities, service autonomous underwater vehicles (PA) are required. Many works (inspection, operations on manifolds docked with collectors, etc.) are associated with operations in an environment with obstacles; therefore the kinematic scheme of the underwater vehicle should provide increased maneuverability and ease of use when working in an environment with obstacles. When developing the appropriate control mode for the underwater vehicle (UV), it is important to consider the dynamic parameters of the UV when solving the problem of its positioning (the positioning problem itself can be solved by means of a technical vision system - TVS). The article discusses two generalized models of UV for work on man-made objects and the results of computational experiments that simulate the reduction of UV to a target point, the coordinates of which are determined using the TVS. |
format |
Article in Journal/Newspaper |
author |
Vasilyev, I Leontyev, V Polovko, S |
spellingShingle |
Vasilyev, I Leontyev, V Polovko, S Modeling the management of a service underwater vehicle while maneuvering in an environment with obstacles |
author_facet |
Vasilyev, I Leontyev, V Polovko, S |
author_sort |
Vasilyev, I |
title |
Modeling the management of a service underwater vehicle while maneuvering in an environment with obstacles |
title_short |
Modeling the management of a service underwater vehicle while maneuvering in an environment with obstacles |
title_full |
Modeling the management of a service underwater vehicle while maneuvering in an environment with obstacles |
title_fullStr |
Modeling the management of a service underwater vehicle while maneuvering in an environment with obstacles |
title_full_unstemmed |
Modeling the management of a service underwater vehicle while maneuvering in an environment with obstacles |
title_sort |
modeling the management of a service underwater vehicle while maneuvering in an environment with obstacles |
publisher |
IOP Publishing |
publishDate |
2019 |
url |
http://dx.doi.org/10.1088/1755-1315/302/1/012058 https://iopscience.iop.org/article/10.1088/1755-1315/302/1/012058/pdf https://iopscience.iop.org/article/10.1088/1755-1315/302/1/012058 |
geographic |
Arctic |
geographic_facet |
Arctic |
genre |
Arctic |
genre_facet |
Arctic |
op_source |
IOP Conference Series: Earth and Environmental Science volume 302, issue 1, page 012058 ISSN 1755-1307 1755-1315 |
op_rights |
http://creativecommons.org/licenses/by/3.0/ https://iopscience.iop.org/info/page/text-and-data-mining |
op_doi |
https://doi.org/10.1088/1755-1315/302/1/012058 |
container_title |
IOP Conference Series: Earth and Environmental Science |
container_volume |
302 |
container_issue |
1 |
container_start_page |
012058 |
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1800746921904570368 |