한국해양공학회:학술대회논문집 (Proceedings of the Korea Committee for Ocean Resources and Engineering Conference)

한국해양공학회 (Korean Society of Ocean Engineers)
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광학식 유도장치를 이용한 자율 무인잠수정의 수중 도킹 종단 유도 제어

Terminal Guidance Control for Underwater-Docking of an AUV Using Visual Guidance Device

  • 최동현 (인하대학교 기계공학부 선박해양공학) ;
  • 전봉환 (한국해양연구원 해양시스템안전연구소 해양탐사장비 연구사업단) ;
  • 박진영 (한국과학기술원 휴머노이드 로봇 연구 센터) ;
  • 이판묵 (한국해양연구원 해양시스템안전연구소 해양탐사장비 연구사업단) ;
  • 김상현 (인하대학교 기계공학부 선박해양공학) ;
  • 오준호 (한국과학기술원 휴머노이드 로봇 연구 센터)
  • Choi, Dong-Hyun (Dept. of Naval Architecture & Ocean Engineering, School of Mechanical Engineering, INHA Univ.) ;
  • Jun, Bong-Huan (Maritime & Ocean Engineering Research Institute, KORDI) ;
  • Park, Jin-Yeong (Humanoid Robot Research Center, KAIST) ;
  • Lee, Pan-Mook (Maritime & Ocean Engineering Research Institute, KORDI) ;
  • Kim, Sang-Hyun (Dept. of Naval Architecture & Ocean Engineering, School of Mechanical Engineering, INHA Univ.) ;
  • Oh, Jun-Ho (Humanoid Robot Research Center, KAIST)
  • 발행 : 2006.11.16
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초록

The more deeply the researches make progress in ocean researches including the seabed resource investigation or the oceanic ecosystem investigation, the more important the role of UUV gets. In case of study on the deep sea, there are difficulties in telecommunications between AUV and ships, and in data communication and recharging. Therefore, docking is required. In AUV docking system, the AUV should identify the position of docking and make contact with a certain point of docking device. MOERI (Maritime & Ocean Engineering Research Institute), KORDI has conducted the docking testing on AUV ISIMI in KORDI Ocean Engineering Water Tank. As AUV ISIMI approachs the docking device, it is presented that attitude is unstable, because the lights Which is on Image Frame are disappeared. So we fix the rudder and stem, if the lights on Image Frame are reaching the specific area in the Image Frame. In this paper, we intend to solve the problems that were found in the testing, which, first, will be identified via simulation.

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