Improving the method of controlling the search for surface and underwater objects by a hybrid robotic complex

One of the important scientific tasks of organising the control of searching for surface and underwater objects is to ensure the efficiency and trouble-free movement of a hybrid robotic complex in the modes of transition and search operation. An analysis of modern methods of controlling the search for surface and underwater objects by robotic vehicles in search operations, scientific and environmental research, monitoring, inspection and military underwater operations shows the need to use hybrid robotic systems. As part of the intellectualisation of the route planning process, it is relevant to solve the problem of synthesising an optimal trajectory to ensure that the search is carried out in all designated areas of the operation. The paper solves the problem of organising the management of searching for surface and underwater objects by a hybrid robotic complex, namely, building a route in the area of interest as an optimal spline trajectory of a moving object. The possibility of constructing a navigation function through the effective use of the curvature of the spline trajectory as a reproductive template for constructing an axonometric projection is determined. To accomplish this task, the paper improves the method of controlling the search for surface and underwater objects by a hybrid robotic complex by formalising the processes of planning the route of the hybrid robotic complex and the processes of information processing, forecasting the navigation situation and choosing a strategy for preventing dangerous situations by combining intelligent and numerical methods. The developed algorithm for constructing a search route for a hybrid robotic complex allows automated formation of spline trajectories in real time with synchronous submission of information about the parameters of the route to the control system of the hybrid robotic complex. This approach makes it possible to automate the search operation process and apply it in the CoCoRo and e-Navigation concepts