Ensuring the Safe Movement of Long-Distance AUVs in Conditions of Critical Energy Reserves

The movement of an autonomous uninhabited underwater vehicle along an extended route over a long period of time is considered. Due to the unpredictability of the external environment and losses in the power grid, actual energy consumption may differ significantly from the planned one, as a result of which the device may have a critical reserve of energy resources. The paper proposes an algorithm for identifying the state of the critical supply of energy resources using mathematical models of the most energy-intensive consumers. An algorithm for removing the device from the state of “critical energy reserve” is also proposed, for which it is proposed to generate in advance a list of optional consumers that can be gradually turned off or their operating mode changed. If the device is removed from the state of a critical energy resource, evaluate the possibility of fully or partially turning on previously disconnected equipment.