크롤러형 수중로봇의 실해역 경로제어시험에 관한 소개

Abstract

A self-propelled mining underwater robot, named MineRoTM was developed in 2007, which is consists of tracked vehicle, hybrid nodule pick-up device, electro-hydraulic assemblage, sensors, electric-electronic units for control and monitoring, and control station onboard, etc. In 2009 and 2010, shallow water tests around 100m depth have been executed for the purpose of evaluations of collecting, lifting and driving performance. Particularly, the test of 2010 was planned path tracking control at an inshore site near harbor, Hupo in the East Sea of South Korea. Here, tests of four-topic, track velocity control of driving system, verification of the proposed underwater navigation, turning property for various steering rate, and path tracking control have been performed for 3 weeks stage by stage. For operating and supporting the mining robot, DP vessel(8,500 ton) which is equipped with A-frame and winch system for umbilical cable was used as surface unit. This paper introduces about the overall contents of path tracking control test.