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http://dx.doi.org/10.5302/J.ICROS.2013.13.9025

Design and Control of 6 D.O.F(Degrees of Freedom) Hovering AUV  

Jeong, Sang-Ki (Korea Institute of Ocean Science & Technology (KIOST))
Choi, Hyeung-Sik (Division of Mechanical and Energy System Eng., Korea Maritime University)
Seo, Jung-Min (Division of Mechanical and Energy System Eng., Korea Maritime University)
Tran, Ngoc Huy (Division of Mechanical and Energy System Eng., Korea Maritime University)
Kim, Joon-Young (Division of Marine Equipment Department., Korea Maritime University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.9, 2013 , pp. 797-804 More about this Journal
Abstract
In this paper, a study of a new hovering six dof underwater robot with redundant horizontal thrusters, titled HAUV (hovering AUV), is presented. The results of study on the structure design, deployment of thrusters, and development of the developed control system of the AUV was presented. For the HAUV structure, a structure design and an analysis of the thrusting system was performed. For navigation, a sensor fusion board which can proceed various sensor signals to identify correct positions and speeds was developed and a total control system including EKF (Extended Kalman Filter) was designed. Rolling, pitching and depth control tests of the HAUV have been performed, and relatively small angle error and depth tracking error results were shown.
Keywords
CROV (Convertible Remotely Operated Vehicle); HAUV (Hovering Type Autonomous Unmaned Vehicl);
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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