심해진수장치 귀환형 AUV의 도킹 메카니즘 초기설계

Abstract

This paper intends to suggest a solution of an AUV docking system for an Advance Deep-sea Unmanned Underwater Vehicle (ADUUV) system currently being developed by the Korea Ocean Research and Development Institute (KORDI). ADUUV composed of a launcher, an ROV and a small AUV is an integrated underwater vehicle system for survey and sampling in deep sea. The launcher of ADUUV serves as docking station for the AUV and the ROV. Because the dock of AUV is mounted on the launcher hanging with the umbilical cable from a surface vessel, docking problem of the AUV is more difficult than that of rigidly moored or fixed dock. The docking system requires a control mechanism to compensate the motion of dock on the launcher and more accurate navigation system. In addition, power charger and data communication system is needed to perform successive mission after docking. In order to design the AUV docking system of ADUUV, this paper briefly reviews previous docking systems, analyzes the constraints and functional requirements of the docking system, and presents the results of conceptual design of appropriate docking system for ADUUV.