심해 자율무인잠수정 이심이6000의 운용 소프트웨어 개발 및 실해역 시험

Abstract

The MOERI-KIOST has developed a deep-sea autonomous underwater vehicle (AUV) named ISiMI6000, which can survey the deep sea up to 6,000 m depth. This paper presents the design and implementation of operation software for the ISiMI6000 AUV. The operation software consists of embedded program inside the AUV and remote control program on surface unit. The embedded program includes navigation system module, mission management module, behavior module, sensor interface module, actuator interface module, and communication module. The remote control program starts the mission by sending a command to the embedded program, and monitors the AUV position and status. The operator can send an emergency message through RF or underwater acoustic communication using the remote program when a problem is detected. The communication device is automatically switched by current depth of the AUV. We have implemented these software into one execution file, which runs by given mode. We conducted sea-trials in the South Sea to verify our implementation. The results shows that the operation software was executed successfully, and the error of navigation system was acceptable.UV. The operation software consists of embedded program inside the AUV and remote control program on surface unit. The embedded program includes navigation system module, mission management module, behavior module, sensor interface module, actuator interface module, and communication module. The remote control program starts the mission by sending a command to the embedded program, and monitors the AUV position and status. The operator can send an emergency message through RF or underwater acoustic communication using the remote program when a problem is detected. The communication device is automatically switched by current depth of the AUV. We have implemented these software into one execution file, which runs by given mode. We conducted sea-trials in the South Sea to verify our i