자율 작업을 위한 수중 로봇 자동 제어 기초 실험

Abstract

This paper describes the system outline of remotely operated vehicle and the preliminary control experiment results. The robot used in this study is KRISO Intervention ROV under development by Korea Research Institute of Ships and Ocean Engineering. It is equipped with eight thrusters for propulsion. Inertia measurement unit, doppler velocity log, pressure sensor, light emitting diode lighting, and analog camera are installed to control the robot. In order to verify the performance of the depth control that are the basis for controlling the body for underwater intervention are described, depth keeping experiment in water tank was carried out, and its results are discussed.