Simulation program complex for studying motion control methods for autonomous underwater vehicles

Authors:
V. A. Bobkov;Yu. S. Borisov;A. V. Inzartsev;S. V. Mel'Man
Affiliations:
Institute for Automation and Control Processes, Far East Division, Russian Academy of Sciences, Vladivostok, Russia;Institute for Automation and Control Processes, Far East Division, Russian Academy of Sciences, Vladivostok, Russia;Institute for Automation and Control Processes, Far East Division, Russian Academy of Sciences, Vladivostok, Russia;Institute for Automation and Control Processes, Far East Division, Russian Academy of Sciences, Vladivostok, Russia
Venue:
Programming and Computing Software
Year:
2008

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Abstract

Development of a graphical simulation complex for studying motion control methods for autonomous underwater vehicles is discussed. Its structure and functioning scheme are presented. An approach to solving navigation problem and to 3D reconstruction of underwater environment from a given sequence of digital images is described. It is based on the use of an extended Kalman filter and original algorithm of dense 3D recovery of the environment points. Results of computational experiments and estimates of the efficiency of the approach are presented.