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광학식 유도장치를 이용한 자율 무인잠수정의수중 도킹 알고리즘에 관한 연구Study on the Docking Algorithm for Underwater-Docking of an AUV Using Visual Guidance Device

Other Titles
Study on the Docking Algorithm for Underwater-Docking of an AUV Using Visual Guidance Device
Authors
최동현전봉환이판묵김상현임근남
Issue Date
2007
Publisher
한국해양공학회
Keywords
Visual guidance device 광학식 유도장치; Docking Device 도킹 장치; Underwater docking system 수중 도킹 시스템; Visual Servoing 비주얼 서보잉; Autonomous underwater vehicle 자율무인 잠수정; Visual guidance device 광학식 유도장치; Docking Device 도킹 장치; Underwater docking system 수중 도킹 시스템; Visual Servoing 비주얼 서보잉; Autonomous underwater vehicle 자율무인 잠수정
Citation
한국해양공학회지, v.21, no.3, pp 33 - 39
Pages
7
Journal Title
한국해양공학회지
Volume
21
Number
3
Start Page
33
End Page
39
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/1495
ISSN
1225-0767
2287-6715
Abstract
The more deeply the researches make progress in ocean researches including the seabed resource investigation or the oceanic ecosystem investigation, the more important the role of UUV gets. In case of study on the deep sea, there are difficulties in telecommunications between AUV and ships, and in data communication and recharging. Therefore, docking is required. In AUV docking system, the AUV should identify the position of docking device and make contact with a certain point of docking device. MOERI (Maritime & Ocean Engineering Research Institute), KORDI has conducted the docking testing on AUV ISIMI in KORDI ocean engineering water tank. As AUV ISIMI approachs the docking device, there is some cases of showing an unstable attitude, because the lights which is on Image Frame are disappeared. So we propose the docking algorithm that is fixing the rudder and stern, if the lights on image frame are reaching the specific area in the Image Frame. Also we propose the new docking device, which has a variety of position and light number. In this paper, we intend to solve the some cases of showing an unstable attitude that were found in the testing, which, first, will be identified the validity via simulation.1. 서 론
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