미내로(MineRo) 경로 제어를 위한 주행특성 분석

Abstract

To maximize collecting efficiency of manganese nodules, MineRo(test collector) has to follow the specified path based on the underwater navigation and path tracking algorithm.Tthe path tracking of MineRo is achieved by Line-Of-Sight(LOS) algorithm, which is to control both track's velocities to decrease distance and heading errors between current point and instantaneous target point on the specified path. However, in case of caterpillar type's MineRo, the track slip or/and slip angle can be generated at straight and turning motion. These phenomenons greatly decline the path tracking performance. As the basic study on LOS and navigation algorithm, this paper analyzes driving properties of MineRo from the results of costal driving test in 2009. Particularly, the driving properties is shown by slip, slip angle and heading rate accroding to track velocity