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학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2022.6
- 수록면
- 181 - 193 (13page)
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초록· 키워드
오류제보하기
This study presents a mission management technique that is a key component of underwater docking system used to expand the operating range of autonomous underwater vehicle (AUV). We analyzed the docking scenario and AUV operating environment, defining the feasible initial area (FIA) level, event level, and global path (GP) command to improve the rate of docking success and AUV safety. Non-holonomic constraints, mounted sensor characteristic, AUV and mission state, and AUV behavior were considered. Using AUV and docking station, we conducted experiments on land and at sea. The first test was conducted on land to prevent loss and damage of the AUV and verify stability and interconnection with other algorithms; it performed well in normal and abnormal situations. Subsequently, we attempted to dock under the sea and verified its performance; it also worked well in a sea environment. In this study, we presented the mission management technique and showed its performance. We demonstrated AUV docking with this algorithm and verified that the rate of docking success was higher compared to those obtained in other studies.
목차
ABSTRACT
1. Introduction
2. Test-bed System
3. Mission Management Technique Design
4. Experimental Studies
5. Conclusions
References
참고문헌 (22)
참고문헌 신청
Cho, G.R., Kang, H., Lee, M. J., & Li, J.H. (2019). Heading Control of URI-T, an Underwater Cable Burying ROV: Theory and Sea Trial Verification. Journal of Ocean Engineering and Technology, 33(2), 178‒188. https://doi.org/10.26748/KSOE.2019.010
Kim, M.G., Kang, H., Lee, M.J., Cho, G.R., Li, J.H., & Kim, C. (2021). UUV Platform Optimal Design for Overcoming Strong Current. Journal of Ocean Engineering and Technology, 35(6), 434-445. https://doi.org/10.26748/KSOE.2021.069
Cho, Y., Kim, J., Kim, J., Jo, Y., & Ryu, J. (2019). Behavior-based Control Considering the Interaction Between a Human Operator and an Autonomous Surface Vehicle. Journal of Ocean Engineering and Technology, 33(6), 620‒626.
Cho, G.R., Kang, H.J., Lee, G.H., & Lee, P.Y. (2020a). Underwater Docking and Control Strategy for Torpedo-type Autonomous Underwater Vehicle. Bulletin of the Society of Naval Architects of Korea, 57(3), 19‒23.
Park, D.G., Cho, G.R., Kang, H.J., Li, J.H., Lee, P.Y., Kim, H.S., & Lee, H.S. (2019). Waypoint Tracking Control Using Line of Sight Guidance Law for Torpedo Type AUV. Proceedings of Fall Conference 2019 of the Korean Marine Robot Technology Society, 61‒63.
Kim, M.G., Kang, H., Lee, M.J., Cho, G.R., Li, J.H., & Kim, C. (2021). UUV Platform Optimal Design for Overcoming Strong Current. Journal of Ocean Engineering and Technology, 35(6), 434-445. https://doi.org/10.26748/KSOE.2021.069
Cho, Y., Kim, J., Kim, J., Jo, Y., & Ryu, J. (2019). Behavior-based Control Considering the Interaction Between a Human Operator and an Autonomous Surface Vehicle. Journal of Ocean Engineering and Technology, 33(6), 620‒626.
Cho, G.R., Kang, H.J., Lee, G.H., & Lee, P.Y. (2020a). Underwater Docking and Control Strategy for Torpedo-type Autonomous Underwater Vehicle. Bulletin of the Society of Naval Architects of Korea, 57(3), 19‒23.
Park, D.G., Cho, G.R., Kang, H.J., Li, J.H., Lee, P.Y., Kim, H.S., & Lee, H.S. (2019). Waypoint Tracking Control Using Line of Sight Guidance Law for Torpedo Type AUV. Proceedings of Fall Conference 2019 of the Korean Marine Robot Technology Society, 61‒63.
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