POSITION BASED MOTION CONTROL OF THE UNDERWATER VEHICLE ON VIDEO DATA AT THE UNDERWATER PIPELINE INSPECTION

The effectiveness of the operation of an uninhabited underwater vehicle moving in the bottom layer depends on the algorithmic support of the onboard computing environment. The use of underwater vehicles for the inspection of a subsea pipeline for a visual assessment of its technical condition requires from the organization's movement control system a complex spatial displacement. As a source of data on the position of the underwater vehicle relative to the pipeline, an onboard video system can be used, the data from which are used in the motion control algorithm. A variant of using the results of estimations in the fuzzy positional algorithm of motion control of the apparatus on video data is presented, and also results of simulation of the process of controlled motion of an uninhabited underwater vehicle on video data near a subsea pipeline are presented.