2026
Optoelectronics, Instrumentation and Data Processing, Scopus
Article
Current trends in underwater robotics are focused on the development of fully autonomous unmanned underwater vehicles (UUVs) equipped with multilink manipulators (MLMs) and capable of performing a range of research, manipulation, and technological operations in dynamic and uncertain underwater environments without direct operator intervention. A key challenge in achieving autonomy for UUVs is the generation and adaptive adjustment of control programs in real time based on environmental data received from the UUV’s onboard sensors and MLM sensors. We propose a toolkit for an intelligent UUV mission planner, including its data and software components and a development methodology. The planner enables the decomposition of strategic tasks into elementary operations with dynamic selection of their sequence and execution parameters depending on current data and external conditions. The architecture of the developed toolkit is based on the principles of modularity and scalability, allowing the planning system to be adapted to various UUV classes and mission types. The presented solution facilitates the development of autonomous UUV control methods and can be used in the design of advanced robotic systems for marine research, monitoring, and underwater technological operations.