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http://dx.doi.org/10.7746/jkros.2020.15.1.032

A Basic Study of Water Basin Experiment for Underwater Robot with Improving usability  

Nam, Keonseok (Marine Robot Center, Korea Institute of Industrial Technology (KITECH))
Ryu, Jedoo (Marine Robot Center, Korea Institute of Industrial Technology (KITECH))
Ha, Kyoungnam (Marine Robot Center, Korea Institute of Industrial Technology (KITECH))
Publication Information
The Journal of Korea Robotics Society / v.15, no.1, 2020 , pp. 32-38 More about this Journal
Abstract
This paper describes a method for tracking attitude and position of underwater robots. Underwater work with underwater robots is subject to differences in work efficiency depending on the skill of the operator and the utilization of additional sensors. Therefore, this study developed an underwater robot that can operate autonomously and maintain a certain attitude when working underwater to reduce difference of work efficiency. The developed underwater robot uses 8 thrusters to control 6 degrees of freedom motion, IMU (Inertial Measurement Unit), DVL (Doppler Velocity Log) and PS (Pressure Sensor) to measure attitude and position. In addition, the thruster allocation algorithm was designed to follow the control desired value using 8 thrusters, and the motion control experiments were performed in the engineering water basin using the thruster allocation method.
Keywords
Engineering Water Basin; Motion Control; Remotely Operated Vehicle; Underwater Robot;
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