Development of a Hybrid Method for Planning the Movement of a Group of Marine Robotic Complexes in a Priori Unknown Environment with Obstacles

摘要

The article deals with the problem of organizing the group movement of marine robotic systems autonomous underwater vehicles (AUV), in a priori unknown environment with obstacles. The presence of numerous studies in this area confirms the relevance of this problem. The proposed method of planning the movement of the group is based on a combined approach, which organizes a multi-level approach to the organization of the movement of marine robotic complexes (MRC). At the upper level, a global planning system based on the randomized tree method is developed and provides for the overall movement of the group, while the lower-level planning system allows objects to plan the movement and interaction of objects in the group at the local level, including allowing for trouble-free movement of objects in space. The optimization problem is calculated on all stages of the band, starting with the process, optimizing group of MRC, ending the ongoing process of minimizing the total distance between the target point and the location of the formation. Completed numerical simulation of the movement of a group of four AUV in an unknown environment with stationary obstacles is carried out. In the end, we consider the results of the proposed method and its further development, in particular its application in the three-dimensional problem statement.