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http://dx.doi.org/10.5916/jkosme.2013.37.6.644

Implementation and field test for autonomous navigation of manta UUV  

Ko, Sung-Hyub (Korea Institute Of Ocean Science & Technology, Maritime Security Research Center)
Kim, Dong-Hee (Korea Maritime and Ocean University, Divison of Mechanical Engineering)
Kim, Joon-Young (Division of Marine Equipment Engineering, Korea Maritime and Ocean University)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.37, no.6, 2013 , pp. 644-652 More about this Journal
Abstract
This paper describes the development and field experiments of Manta-type Unmanned Underwater Vehicle (UUV). Various simulations for Manta UUV are performed by using the nonlinear 6-DOF motion of equations. Through this simulation we verified the motion performances of Manta UUV. To acquire the blueprint of Manta UUV, it was designed with the simulation results. The Manta UUV uses a Doppler Velocity Log (DVL), gyrocompass, GPS, pressure sensor and other minor sensors, applied to measure the motion, position and path of Manta UUV. For its propulsion and changing a direction in the underwater, one vertical fin and four horizontal fins are installed at the hull of UUV. The Manta UUV system was verified with motion and autonomous navigation test at field.
Keywords
Unmanned Underwater Vehicle; Autonomous Underwater Vehicle; Manta UUV; Autonomous Navigation;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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