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http://dx.doi.org/10.5916/jkosme.2007.31.6.784

Development of a Semi-Autonomous Underwater Vehicle  

Kim, Kyeong-Ki (한국해양대학교 기계정보공학부)
You, Sam-Sang (한국해양대학교 기계정보공학부)
Seo, Ju-No (해군사관학교 기계조선공학부)
Choi, Hyeung-Sik (한국해양대학교 기계정보공학부)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.31, no.6, 2007 , pp. 784-790 More about this Journal
Abstract
This paper is mainly concerned with the development of the semi-autonomous underwater vehicle (SAUV). Underwater vehicles are affected by external disturbances due to the sea conditions such as currents and waves when it is performing various missions In this paper we present a design scheme of the SAUV system with mathematical models. Also. we present a control system including motion control of motors and main controller and a communication based on CAN method for interrelated control between the controllers and actuators.
Keywords
SAUV(Semi-Autonomous Underwater Vehicle;
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  • Reference
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