파일럿 채광로봇 경로추종제어에 관한 소개

Abstract

This paper introduces about the path tracking control of pilot mining robot, MineRo. For the path tracking, firstly, track velocity control and underwater navigation are a basic and indispensable requirement. The track velocity control is realized the parameter identification from the open-loop step response, and the underwater navigation fuses the position data from USBL(Ultra-Short Base-Line) system and the estimated position data from dead-reckoning using inner sensors of robot. For path following of robot, the pure pursuit algorithm which produces a circular path passing the target point and the central point of robot, is introduced. To keep the predefined circular path, a track velocity controller considered the estimated slip is proposed. Finally, the performance of the proposed controller is evaluated through sea-trial for the complex paths such as ’MINERO’, and ’COREA’ealized the parameter identification from the open-loop step response, and the underwater navigation fuses the position data from USBL(Ultra-Short Base-Line) system and the estimated position data from dead-reckoning using inner sensors of robot. For path following of robot, the pure pursuit algorithm which produces a circular path passing the target point and the central point of robot, is introduced. To keep the predefined circular path, a track velocity controller considered the estimated slip is proposed. Finally, the performance of the proposed controller is evaluated through sea-trial for the complex paths such as ’MINERO’, and ’COREA’