News of the Kabardino-Balkarian Scientific Center of the Russian Academy of Sciences

Известия Кабардино-Балкарского научного центра РАН

1991-66392949-1940

391438

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

NCBFQL

System analysis, management and information processing

Системный анализ, управление и обработка информации

Review Article

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

Способы и технические средства позиционирования и навигации роботов в водной среде

V. N.

Ле

Ван Нгиа

Russian Federation

специалитет

Specialist's Degree

lenghia18071999@gmail.com

https://orcid.org/0000-0002-8903-3508

Ронжин

Андрей Леонидович

Ronzhin

A. L.

Russian Federation

Doctor of Technical Sciences, Professor, Director

д-р техн. наук, профессор, директор

ronzhin@iias.spb.su

Military Research and Educational Center of the Navy "Naval Academy"Военный учебно-научный центр Военно-Морского Флота "Военно-морская академия"

Федеральный исследовательский центр Российской академии наукFederal Research Center of the Russian Academy of Sciences

22052026

2023

NO6 (2023)

№6 (2023)

16717805032026

2026

Le V.N., Ronzhin A.L.

Ле В.Н., Ронжин А.Л.

https://creativecommons.org/licenses/by/4.0

https://journals.rcsi.science/1991-6639/article/view/391438

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 original classifications.

Обсуждаются проблемы позиционирования и навигации роботов в водной среде с применением традиционных инерциальных и гидроакустических систем, поверхностных GPS-буев, систем технического зрения, позволяющих получить координаты положения робота в водоеме и спланировать маршрут к цели. Сложная и изменчивая окружающая среда накладывает дополнительные ограничения, требующие применения альтернативных методов SLAM, взаимодействия нескольких роботов. Комплексирование информации с нескольких датчиков различного типа или роботов повышает точность и надежность их позиционирования, позволяя избежать столкновений и коллизий на маршрутах. Рассмотренные подходы, применяемые технические средства, методы обработки информации представлены в виде оригинальных классификаций.

робототехниканавигацияпозиционированиеSLAMтехническое зрениегидроакустикагрупповое управление роботами

roboticsnavigationpositioningSLAMunderwater visionhydroacousticgroup control of robots

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