자율무인잠수정을 위한 통신프로토콜 설계

Abstract

This paper presents the design and development of a communication protocol for AUV(Autonomous Underwater Vehicles). The protocol, called by ACP(AUV Communication Protocol), can be classified into two main groups: electronic communication protocol and acoustic communication protocol. The former is associated with the presentation layer in the OSI(Open System Interconnection) model, and the latter includes layers from the network to the presentation layer because commercial underwater acoustic modems do not support functions above the data link layer. The presented protocol can be used for AUVs to communicate with the deck support system or a launcher or other AUVs through underwater acoustic transmission, and it can be used to communicate with the deck support system through wireless network on the surface. The protocol can be run on both of the MS Windows and Linux environment. The implemented protocol is adopted for ISiMI 100 and IRiS AUVs developed by MOERI-KORDI(Maritime & Ocean Engineering Research Institute – Korea Ocean Research and Development Institute).