Technology for Implementation of Manipulation Operations with Different Underwater Objects by AUV

A new technology for performing research and technological manipulation operations using autonomous uninhabited underwater vehicles (AUV) equipped with multi-link manipulators (MM) was developed. This technology involves the construction of mathematical models of underwater objects with the help of on board multibeam 3D sonars. Thereafter, the automatic formation of target points and spatial trajectories of MM working tools is carried out using the obtained models and taking into account the requirements for performing specific manipulation operations. Moreover, the proposed technology allows one to define the location and spatial orientation of the known underwater object. For this purpose, the known 3D model of the object is combined with point clouds obtained from multibeam 3D sonars or vision systems of the AUV. On the basis of the developed technology, a special software was made that allows constructing models of underwater objects and calculate spatial movement trajectories of working tools of the MM installed on the AUV.