Typology models of dynamic AUV spatial motion

摘要

Dynamic features of the Autonomous Underwater Vehicle (AUV) at 《simple》mode realization of spatial motion are researched in article. Presentation of the variety of spatial motions in the form of dynamic modules with their peculiar features and control problems is assumed as a basis. Fuzzy logic methods are used for behavioral layout of control in conditions of incomplete information or invalid data. Dynamic model of the known AUV and algorithm of motion control towards the specified target with external resistance are considered for the concrete example.