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AUV Behavior Algorithm While Inspecting of Partly Visible Pipeline

机译:AUV行为算法在检查部分可见管道时

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摘要

The questions of motion planning of the autonomous underwater vehicle (AUV) during inspection of underwater pipelines are considered in the paper. The data of onboard distance-measuring acoustic devices (echo-sounding system) are used for pipeline identification and subsequent AUV motion planning. Current and gathered information about terrain and also known geometrical parameters of the pipeline are used for determination of the pipeline position at each moment of time. Modeling results of proposed inspection algorithm are discussed.
机译:在纸上考虑了在水下管道检查期间自主水下车辆(AUV)的运动规划问题。车载距离测量声学设备(回波探测系统)的数据用于管道识别和随后的AUV运动规划。关于地形的电流和收集的信息信息,以及该管道的几何参数用于在每一刻确定管道位置。讨论了所提出的检查算法的建模结果。

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