This article is cited in 3 papers

System analysis, management and information processing

Methods and technical means of positioning and navigation of robots in the aquatic environment

V. N. Le^a, A. L. Ronzhin<sup>b

a</sup> Military Research and Educational Center of the Navy «Naval Academy», 197045, Russia, St. Petersburg, 17/1 Ushakovskaya embankment
^b St. Petersburg Federal Research Center of the Russian Academy of Sciences, 199178, Russia, St. Petersburg, 39, 14th line of Vasilyevsky Island

Abstract: The issues of positioning and navigation of robots in the aquatic environment are discussed using traditional inertial and acoustic approaches, surface GPS buoys, technical vision systems allowing for obtaining relative coordinates of the robot's position in the reservoir and planning a route to the target. The complex and changing environment imposes additional constraints, necessitating the use of alternative SLAM methods and the interaction of multiple robots. Fusion of information from multiple sensors of different types or robots enhances the accuracy and reliability of positioning, allowing avoidance of collisions and conflicts on routes. The discussed approaches, applied technical means, and information processing methods are presented in the form of classifications.

Keywords: robotics, navigation, positioning, SLAM, underwater vision, hydroacoustic, groupcontrol of robots

UDC: 629.127

MSC: Primary 68T40; Secondary 93С85

Received: 24.11.2023
Revised: 27.11.2023
Accepted: 29.11.2023

DOI: 10.35330/1991-6639-2023-6-116-167-178

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