반자율무인잠수정 SAUV의 제어시스템 및 운용 소프트웨어

Abstract

A semi-autonomous underwater vehicle (SAUV) equipped with an underwater electric manipulator is under developing in KRISO-KORDI for light work mission in shallow water. This paper presents an efficient control system and operating software of the SAUV, which is developed on the basis of a real-time operating system (RTOS) QNX. The control system of SAUV is composed of two CompactPCI bus microprocessors and one industrial PC that are connected with an Ethernet and synchronized by messages passing through the Ethernet. External devices are interfaced to a vehicle control computer with AD, DA, DIO and RS232 serial IP cards mounted on two IP carrier boards with CompactPCI bus. The device drivers for the IP cards are useful to keep the modularity and synchronization of the functions in the operating software of SAUV. This paper shows the constitution of system control software of SAUV, and also presents message-passing techniques, interrupt handling procedures and process scheduling methods in the real-time operating software of SAUV.