자율무인잠수정의 해류 방향을 고려한 경로 계획 및 항법 시스템 설계

Abstract

This paper suggests a practical path planning technique considering ocean currents environments in real sea operation. Optimality is not an issue in this paper. Way points from start point to goal point are selected by experienced human supervisors considering major ocean current axis. After selecting way points 'natural' cubic spline algorithm generate a reasonable path to the goal automatically. The performance of natural cubic spline is verified by simulations. Also non-divergent covariance intersection method is introduced for a navigation system design, which fuse USBL, DVL, AHRS data to estimate 6DOF AUV state.