임무언어를 이용한 이심이100 자율무인잠수정의 실해역 실험

Abstract

This paper presents the sea trial results of the ISiMI100 autonomous underwater vehicle (AUV) with new mission language which is called as Tiny Mission Language (TML). If an AUV system does not provide any mission language, programmer should modify the AUV software whenever a mission is changed. So we have developed the TML for the ISiMI100 AUV in order to represent various missions conveniently and to modify the missions easily. The TML provides control statements for management of execution sequence, variable usage for temporary data and special instructions for behavior management. It also provides a function call instruction with parameters for source modulation and directive statements for environment description. Though the TML supports much functionality, it is very concise language. The TML includes only essential instructions for mission control and its grammar is similar to assembly language. The execution speed of the TML is fast against other mission language with interpreter type. The sea trial was conducted in the cove near the Jangmok located on Geoje Island and several basic missions like as keeping yaw, keeping depth, lawn-lower survey and emergency action were implemented by the TML and tested. The results of the TML test verified the flexibility and efficiency of the TML. We could describe various missions conveniently and modify the mission easily in a short time without recompilation of the software.