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Investigation of Disturbed Motion of the Mobile Unmanned Underwater Vehicle (MUUV)

One of the main steps preceding the study of the water quality in reservoirs is sampling. Under current conditions, water sampling is carried out by an operator at stationary monitoring posts, supplied with required equipment. However, the stationary character of such pollution analyzers makes it practically impossible to provide control at various sites of the monitoring object. Therefore, there is a problem of prompt and safe information acquisition relevant and sufficient for the assessment of the quality of the reservoir and the appropriate response. In recent years, new surface- and underwater-based mobile robotic platforms (MRP) are emerging, which allow for autonomous monitoring of water resources [1]–[10]. Such equipment enables automatic sampling of water and transmits information to the observation post. In the specified case, the monitoring process involves autonomous functioning, both in the surface and underwater position, which allows for the enhancement of maximum efficiency in terms of speed and accuracy of reaching specified points for water sampling. The article considers the solution to one of the main problems arising in the development of such systems, namely the task of synthesizing a motion control algorithm.