Yu.O. Druzhinin1, V.V. Sokolov2, A.V. Abdulov3, A.N. Abramenkov4, A.V. Rozhnov5

1–5 V.A. Trapeznikov Institute of Control Sciences of RAS (Moscow, Russia)
1 ydruzhin@ipu.ru, 2 sok@ipu.ru, 3 ava@ipu.ru, 4 aabramenkov@ipu.ru, 5 rozhnov@ipu.ru

Planning the group use of autonomous unmanned underwater vehicles for inspection (monitoring) of underwater objects of interest to the researcher, the coordinates of which have been previously identified using certain technical means, including using unmanned aerial vehicles, is a prerequisite for minimizing the time of such studies (or for performing them in a limited period). At the same time, the
autonomous underwater vehicles are accompanied by a base vessel that provides charging (or replacement) of their batteries.

The aim of the work is to develop a method for constructing optimal trajectories for the movement of an autonomous underwater vehicles and its accompanying base vessel with known technical characteristics to estimate the minimum time for completing a mission to inspect point underwater objects.

We propose heuristic method for constructing optimal trajectories of autonomous unmanned underwater vehicles and their accompanying base vessel. We have named this method a task of several traveling salesmen with a choice of mobile charging stations and with priority constraints (Multiple Traveling Salesmen Problem with Mobile Refueling Stations and with Precedence Constraints – MTSPMRS-PC). When modeling this method, the dependences of the drawing of the trajectory of the base vessel on the ratio of the speeds of the autonomous uninhabited underwater vehicles and the base vessel and the trajectories of the autonomous unmanned underwater vehicles on the ratio of the energy values spent by it on inspection of the object to the energy consumed during its movement were revealed. We propose to use this method by developing programs for constructing the trajectories of the autonomous underwater vehicles and the base vessel, taking into account real hydro meteorological conditions.

Druzhinin Yu.O., Sokolov V.V., Abdulov A.V., Abramenkov A.N., Rozhnov A.V. Organization of monitoring of point objects by autonomous uninhabited vehicles based on an escort vessel // Dynamics of complex systems. 2026. V. 20. № 4. P. 37−47. DOI: 10.18127/j19997493-202604-03

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