The structure of the software control package for autonomous underwater vehicle

The work is devoted to the control system of heavy-class AUV, which differ from AUV of other classes in a wider range of tasks, including sailling at great depths and at a large distance from their base, which required equipping them with a large range of special equipment and high power capacity. These differences impose higher requirements on the heavy-class AUV control system. The AUV control system is based on a multi-agent principle, which makes it possible to reduce its complexity by transferring some of its functions to AUV systems, or rather their control systems. The core of the AUV multi-agent control system is the software control package (SCP), which is responsible for coordinating the functioning of all AUV systems in order to perform a mission assignment as accurately as possible by issuing commands to AUV systems and verifying their implementation, if necessary, adjusting the mission assignment, monitoring the current state of the AUV in terms of safety navigation, the accuracy of monitoring its location, the serviceability of equipment and the remaining supply of electricity, taking appropriate measures in case of a critical situation, radio and sonar communications with the command post and interoperable facilities. The purpose of the work is to describe the structure of the SCP, developed by the authors and characterized by simplicity, ensuring reliable operation of SCP, and versatility, allowing the use of the developed SCP in AUV for various purposes. The developed structure is based on the multi-agent principle of SCP, which consists in the provision of a set of independent agent programs, each of which controls AUV when solving a specific task, and a coordinator program that transfers control to the appropriate program when appropriate conditions arise. This approach makes it possible to simplify the SCP and thereby increase its reliability.