자율천해역 과학조사 임무수행을 위한 자율무인잠수정 이심이100

Abstract

This paper presents ISiMI100 AUV for coastal scientific survey mission. The focus of this paper is on the functions for scientific mission implementation such as control performance, survey instruments and mission language. After brief introduction of ISiMI system including the mission sensors, the control performance is presented with sea-trial results. Then the mission language of ISiMI00 AUV is presented. The embedded software in the ISiMI has behavior-based hybrid architecture which consists of mission planning layer, the mission execution layer, and hardware layer. The mission language provides control statements for management of execution sequence, variable definition for temporary data, and instructions for behavior management. The hardware layer provides the virtual communication interface to connect sensors and actuators of ISiMI easily. The embedded software especially includes own real-time management library to support preemption of process and timer control.