DEVELOPMENT OF CENTRALIZED CONTROL SYSTEM FOR AUV GROUP

摘要

The problem of AUV group control is considered in the paper. A group of AUVs could give a number of advantages in search operations or environment monitoring, especially if the group is coordinated according to an optimal plan. Some of those advantages are high performance and reliability during the mission. In order to arrange a group of AUVs it demands to develop and implement appropriate algorithms for optimal plan design. A group control system should monitor the mission execution and switch plan according to changing conditions, for example, if one of the vehicles leaves the mission due to an accident or for another task. We consider these problems within a specific control system for MARC AUV.