ADJUSTMENT ACCORDING TO INVARIANTS OF THE PROPULSION CONTROL COMMANDS OF A REMOTE-CONTROLLED UNMANNED UNDERWATER VEHICLE

Abstract

The article proposes the development of methods for compensating for distortions occurring when specifying the following types of forward-backward movement, swinging port-starboard, turning to port-starboard and their combinations. Uncompensated stops lead to uncontrolled turns of remote-controlled devices when setting any of the types of control. The controllability of underwater remote-controlled vehicles is associated with the limited field of view of the phototelevision complex in conditions of artificial lighting and a limited observation range, usually 5-7 meters. The developed technology can be used for various remote-controlled and autonomous mobile objects, the power plant of which is built on a multi-propulsion basis