한국해양공학회지 (Journal of Ocean Engineering and Technology)

  • 제23권5호
  • /
  • Pages.61-70
  • /
  • 2009
  • /
  • 1225-0767(pISSN)
  • /
  • 2287-6715(eISSN)
한국해양공학회 (Korean Society of Ocean Engineers)
권호 표지

가상의 목표점을 이용한 무인 잠수정의 충돌회피 귀환 경로계획

Virtual Goal Method for Homing Trajectory Planning of an Autonomous Underwater Vehicle

  • 박성국 (충남대학교 BK21 메카트로닉스사업단) ;
  • 이지홍 (충남대학교 BK21 메카트로닉스사업단) ;
  • 전봉환 (한국해양연구원 해양시스템안전연구소) ;
  • 이판묵 (한국해양연구원 해양시스템안전연구소)
  • 발행 : 2009.10.31
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초록

An AUV (Autonomous Underwater Vehicle) is an unmanned underwater vessel to investigate sea environments and deep sea resource. To be completely autonomous, AUV must have the ability to home and dock to the launcher. In this paper, we consider a class of homing trajectory planning problem for an AUV with kinematic and tactical constraints in horizontal plane. Since the AUV under consideration has underactuated characteristics, trajectory for this kind of AUV must be designed considering the underactuated characteristics. Otherwise, the AUV cannot follow the trajectory. Proposed homing trajectory panning method that called VGM (Virtual Goal Method) based on visibility graph takes the underactated characteristics into consideration. And it guarantees shortest collision free trajectory. For tracking control, we propose a PD controller by simple guidance law. Finally, we validate the trajectory planning algorithm and tracking controller by numerical simulation and ocean engineering basin experiment in KORDI.

키워드

참고문헌

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