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http://dx.doi.org/10.5302/J.ICROS.2013.13.9026

Design, Control and Localization of Underwater Mine Disposal Robots  

Moon, Yong Seon (Dept. of Electronics Eng., Sunchon National University)
Ko, Nak Yong (Dept. Control, Instrumentation, and Robot Eng., Chosun University)
Sur, Joono (Naval Systems R&D Center, Samsung Thales Co. Ltd.)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.9, 2013 , pp. 805-812 More about this Journal
Abstract
This paper describes the design, control, and localization which comprise major aspects of the development of underwater robots for the mine disposal. The developed robots are called the Mine Killer (MK-1) and MK-2. MK-1 had been developed from September 2009 and was presented at the 9-th International Symposium at NPS Monterey CA, on May 17-21, 2010[1]. The paper presents design of MK-1 and MK-2 in detail with comparison of these two versions of MKs. Then it derives hydrodynamic coefficients of MK-1. Based on the coefficients, the motion of MK-1 is simulated for straight line motion and circular motion. Also simulation results for PD control, LQ control and sliding mode control are presented. Finally, it shows a particle filter method for localization of MK-1 and MK-2 using simple range data from acoustic beacons.
Keywords
mine disposal; underwater robot; hydrodynamic coefficient; control; location estimation; navigation;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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