RMAC를 적용한 어뢰형 무인잠수정(ISiMi)의 수평면 경로추종 제어

Abstract

This paper considers the path tracking problem in horizontal plane for underactuated (or non-holonomic) autonomous underwater vehicles (AUVs). Underwater mapping has been an important mission for AUVs. Recently, underwater docking has also become a main research field of AUVs. These kind of missions basically require accurate performance of attitude and trajectory control. However, the non-holonomic problem should be solved to achieve the accurate path tracking of the torpedo-typed AUVs. In this paper, resolved motion and acceleration control(RMAC) is considered as a path tracking controller for underactuated torpedo-shape AUV, ISiMi. A set of numerical simulation is carried out to illustrate the effectiveness of the proposed RMAC scheme. And experimental data with ISiMi100 and discussions are presented.