V.V. Veltishchev, E.I. Aladysheva

Development and implementation of software for analyzing the spatial position of the cable line of the hybrid underwater robotic system

Developing hybrid underwater vehicle (HUV) based on an autonomous uninhabited underwater vehicle (AUV) and a remotely operated underwater vehicle (ROV), requires to control the length of the cable connecting the separated vehicles as part of a HUV. The selection of cable length for a given relative position of the vehicles is proposed to be carried out using mathematical modeling. Software was developed that allows mathematical modeling of the static configuration of the cable
between the AUV and ROV in three-dimensional space. It is a tool for applied research of the characteristics of a HUV.

Keywords: hybrid underwater vehicle, autonomous underwater vehicle, remotely operated vehicle, cable line, software.

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