미내로 경로추종 제어를 위한 운용 소프트웨어 소개

Abstract

This paper presents development results of real-time operating software in 2010 inshore test. For operating MineRo, the test miner, remote and real-time system needs the operating software that has three major characteristic; remote, real-time, and expansibility. And then the operating software is composed of three software; control, surveillance, and database. Three major algorithms used for driving performance test of MineRo are PI control algorithm for track velocity, underwater navigation algorithm based on kalman, and path tracking algorithm based on LOS. This paper introduces how three algorithms in the operating software are applied. The operating software was developed using NI LabVIEW.