Algorithms of the AUV control system for operation under the lower ice edge

One of the urgent tasks for autonomous underwater vehicles (AUV) is monitoring of marine biological resources and survey of the lower edge of the ice in the circumpolar zones. The main problems for AUV movement during such work are the uneven lower surface of the ice and the need to search for an ice hole for surfacing, which may be required either in accordance with the mission program or in an emergency situation. The report discusses the algorithms of the AUV information and control system, designed to solve these problems. These algorithms ensure the movement of the AUV under the ice at various horizons, with the stabilization of a given distance from the lower edge of the ice, as well as in ice-covered shallow waters. To obtain information about the ice situation, an echolocation system is used in AUV, including several sonars with fixed directional patterns in the front hemisphere of the vehicle. The correctness of the algorithms was investigated using mathematical modeling methods.