Control Systems of Underwater Vehicles in Multi-agent System of Underwater Inspection

摘要

Using of autonomous underwater vehicles team for the execution of common underwater inspection task causes a need of particular vehicles coordination. One of the solutions is multi-agent system. Multi-agent system of underwater inspection will be composed of decision system - generating vectors of desired states for particular underwater vehicle and control blocks - converting vectors of desired states into input function vectors of particular vehicle's driving systems for the common aim execution. The paper undertakes problem of selection a structure of control blocks for underwater vehicles with different dynamics and different configuration of driving systems.