Development of a Structural-Functional Approach for Heterogeneous Glider-Type Marine Robotic Complexes’ Group Interaction to Solve Environmental Monitoring and Patrolling Problems
Abstract
:1. Introduction
2. The Problem Statement
- Ensuring a sufficient distance between objects, which allows maintaining an operational communication channel;
- Setting up the intra-group logic for vehicles’ action planning in case of unforeseen situations;
- Maintaining the group while the group is moving.
SHADOW Underwater Glider Model
3. Development of a Group Interaction System
- moves in horizontal plane;
- overcomes the strong current zones (overcomes the thermocline);
- needs functionality and maneuverability improvement in order to overcome obstacles as well.
Development of an Algorithm for a Single Field of View of the MRC Group
4. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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Parameter Name | Parameter Value |
---|---|
Mass of the glider | 138.45 kg |
Forward buoyancy engine displacement | 1.3 L |
Backward buoyancy engine displacement | 1.2 L |
Mass of the trim control system | 10.2 kg |
Offset of the trim control system along OX axis | 0.095 m |
Mass of the rotation system (roll control system) | 8.3 kg |
Roll control system rotation range along OX axis | 75 deg |
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Nikushchenko, D.; Maevskiy, A.; Kozhemyakin, I.; Ryzhov, V.; Goreliy, A.; Sulima, T. Development of a Structural-Functional Approach for Heterogeneous Glider-Type Marine Robotic Complexes’ Group Interaction to Solve Environmental Monitoring and Patrolling Problems. J. Mar. Sci. Eng. 2022, 10, 1531. https://doi.org/10.3390/jmse10101531
Nikushchenko D, Maevskiy A, Kozhemyakin I, Ryzhov V, Goreliy A, Sulima T. Development of a Structural-Functional Approach for Heterogeneous Glider-Type Marine Robotic Complexes’ Group Interaction to Solve Environmental Monitoring and Patrolling Problems. Journal of Marine Science and Engineering. 2022; 10(10):1531. https://doi.org/10.3390/jmse10101531
Chicago/Turabian StyleNikushchenko, Dmitry, Andrey Maevskiy, Igor Kozhemyakin, Vladimir Ryzhov, Artem Goreliy, and Timofey Sulima. 2022. "Development of a Structural-Functional Approach for Heterogeneous Glider-Type Marine Robotic Complexes’ Group Interaction to Solve Environmental Monitoring and Patrolling Problems" Journal of Marine Science and Engineering 10, no. 10: 1531. https://doi.org/10.3390/jmse10101531