Safety Management for a Robotic Complex Based on its Power Consumption Dynamics

The authors review safety management for a large autonomous underwater vehicle while following a route in different media with different ambient conditions that affect the operation of the device's systems, its power consumption, and safety. They analyze the influence of the ambient conditions on the safety of the autonomous underwater vehicle determined by the sufficiency of the power resources for the route job and the arrival of the autonomous underwater vehicle at the destination. Taking into account the stochastic nature of ambient conditions and their volatility for power consumption dynamics control, the authors developed a risk assessment method for power shortages using a dynamic Bayesian network and conditional probability tables. The risk assessment accounts for the impact of ambient conditions on the autonomous underwater vehicle positioning errors, the operation of its systems, the degradation of its technical condition, and the overconsumption of power. The authors developed a simulation model and performed numerical experiments by applying the suggested method on a section of the Northern Sea Route featuring areas with open water, coastal areas, sea ice areas, and land-fast ice areas. The authors suggest a autonomous underwater vehicle safety management algorithm that can reduce power consumption or adjust the route if there is a high risk of power shortage.