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
Citation:
V. N. Le, A. L. Ronzhin, “Methods and technical means of positioning
and navigation of robots in the aquatic environment”, News of the Kabardino-Balkarian Scientific Center of the Russian Academy of Sciences, 2023, no. 6, 167–178
\Bibitem{LeRon23}
\by V.~N.~Le, A.~L.~Ronzhin
\paper Methods and technical means of positioning
and navigation of robots in the aquatic environment
\jour News of the Kabardino-Balkarian Scientific Center of the Russian Academy of Sciences
\yr 2023
\issue 6
\pages 167--178
\mathnet{http://mi.mathnet.ru/izkab732}
\crossref{https://doi.org/10.35330/1991-6639-2023-6-116-167-178}
\elib{https://elibrary.ru/item.asp?id=https://www.elibrary.ru/item.asp?id=58804977}
\edn{https://elibrary.ru/NCBFQL}