SEA ICE HUMMOCK MODELING FOR PURPOSES OF AUTONOMOUS RESCUE CRAFT NAVIGATION

 cover 2-15-2017

SEA ICE HUMMOCK MODELING FOR PURPOSES OF AUTONOMOUS RESCUE CRAFT NAVIGATION

A.N. Mozhaev
Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Programmer, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(911)913-02-08, This email address is being protected from spambots. You need JavaScript enabled to view it.


Abstract
The article is dedicated to the mathematical model describing dependence of hummock dimensions on external conditions and time. Similar model can be useful for automatic routing systems of autonomous rescue craft (robot) in the Arctic region as a backup option in case of disconnection and loss of access to the real-time data on ice cover [1].
The article describes the operating principle of the model and notes the main simplifications. Also all the equations that the author used and the order of their use in the model are given. Further, in the article the results of numerical experiments obtained as a result of using this model are presented. The calculations were performed by means of numerical methods using an explicit finite-difference scheme.

Key words
Robot, hummock, math modeling, autonomous control.

Bibliographic description
Mozhaev, A. (2017). Sea Ice Hummock Modeling for Purposes of Autonomous Rescue Craft Navigation. Robotics and Technical Cybernetics, 2(15), pp.62-66.

UDC identifier
53.091

References

  1. Vasilyev, I., Smirnova, E. and Stepanov, D. (2015). Kompleks intellektual'noy navigatsii amfibiynogo spasatel'nogo sredstva [Intelligent navigation complex for amphibian rescue vehicle]. Robotics and Technical Cybernetics, 2(7), pp.30-33.
  2. Rul'kov, D. (1973). Navigatsiya i lotsiya [Navigation and Pilot Chart]. 1st ed. Moscow: Transport Publ., p.232.
  3. Zubatkina, G. (ed.) (2006). Ledyanye obrazovaniya morey zapadnoy Arktiki [Ice bodies of West Arctic seas]. 1st ed. Saint-Petersburg: AANII Publ., p.272.
  4. Strovich, L. (ed.) (1990). Matematicheskoe modelirovanie ledyanogo pokrova, raschety i prognozy - Trudy AANII - T. 420 [Mathematical simulation of ice cover, calculation and forecasts - Proceedings of AANII - Vol. 420]. 1st ed. Leningrad: Gidrometizdat Publ., p.148.
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