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http://dx.doi.org/10.3744/SNAK.2008.45.6.579

A Study On the Position Control System of the Small ROV Using Sonar Sensors  

Choi, Dong-Hyun (Project Planning Team 2, Samsung Heavy Industries)
Um, Geun-Nam (Dept. of Naval Architecture, Graduate School of Inha University)
Kim, Sang-Hyun (Dept. of Naval Architecture and Ocean Engineering, Inha University)
Publication Information
Journal of the Society of Naval Architects of Korea / v.45, no.6, 2008 , pp. 579-589 More about this Journal
Abstract
In the past few years, there are many studies and researches of the underwater vehicles which are carried out its mission using sonar sensors. MSCL(Marine System Control Lab.) at Inha University developed test-bed small ROV, ISRO. ISRO is an open-frame type and has 4 thrusters. ISRO can control 4 motions i.e surge, sway, yaw and heave with sonar sensors. ISRO is developed for inspection of ship hull, marine structure, plant of lake or river and so on. When ROV ISRO inspects something, it is necessary to control the position of ROV ISRO's for the movement and anti-collision with structures in the underwater. In this paper, we deal with the development of a small ROV and verification of the position control system via simulation and experiment using sonar sensors.
Keywords
ROV(Remotely Operated Vehicle); Position control system; PD control; Sonar sensor;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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