수중 경작업용 무인잠수정 URI-L의 실해역 인공구조물 작업에 대한 고찰

Abstract

This paper introduces an artificial structure work in sea area of a underwater LWC(Light-work-class) ROV URI-L. The artificial structure work was performed at a depth of 200m to verify the work performance of the ROV. The artificial structure work means the process of launching, search, observation, fixing, work, movement, and recovery. The motion of the ROV in each process is controlled by the PD controller based on the simplified dynamic model and the waypoint following method using the pure pursuit technique. In this paper, we present the results of each process.