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http://dx.doi.org/10.26748/KSOE.2019.010

Heading Control of URI-T, an Underwater Cable Burying ROV: Theory and Sea Trial Verification  

Cho, Gun Rae (Marine Robotics R&D Division, Korea Institute of Robot and Convergence)
Kang, Hyungjoo (Marine Robotics R&D Division, Korea Institute of Robot and Convergence)
Lee, Mun-Jik (Marine Robotics R&D Division, Korea Institute of Robot and Convergence)
Li, Ji-Hong (Marine Robotics R&D Division, Korea Institute of Robot and Convergence)
Publication Information
Journal of Ocean Engineering and Technology / v.33, no.2, 2019 , pp. 178-188 More about this Journal
Abstract
When burying underwater cables using robots, heading control is one of the key functions for the robots to improve task efficiency. This paper addresses the heading control issue for URI-T, an ROV for underwater construction tasks, including the burial and maintenance of cables or small diameter pipelines. Through modeling and identifying the heading motion of URI-T, the dynamic characteristics and input limitation are analyzed. Based on the identification results, a PD type controller with appropriate input treatment is designed for the heading control of URI-T. The performance of the heading controller was verified in water tank experiments. The field applicability of the proposed controller was also evaluated through the sea trial of URI-T at the East Sea, with a water depth of 500 m.
Keywords
Heading control; Underwater cable burial; ROV; Dynamics identification; Sea trial;
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