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“NEWS OF THE KABARDINO-BALKARIAN

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The journal was founded in 1998, 6 issues per year
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Methods and technical means of positioning and navigation of robots in the aquatic environment

V.N. Le, A.L. Ronzhin

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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, group control of robots

For citation. Le V.N, Ronzhin A.L. Methods and technical means of positioning and navigation of robots in the aquatic environment. News of the Kabardino-Balkarian Scientific Center of RAS. 2023. No. 6(116). Pp. 167–178. DOI: 10.35330/1991-6639-2023-6-116-167-178

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Information about the authors

Le Van Nghia, Specialist’s Degree, Military Research and Educational Center of the Navy “Naval Academy”;
197045, Russia, St. Petersburg, 17/1, Ushakovskaya embankment;
lenghia18071999@gmail.com
Ronzhin Andrey Leonidovich, Doctor of Technical Sciences, Professor, Director, St. Petersburg Federal Research Center of the Russian Academy of Sciences;
199178, Russia, St. Petersburg, 39, 14th line of Vasilyevsky Island;
ronzhin@iias.spb.su, ORCID: https://orcid.org/0000-0002-8903-3508


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