자율무인잠수정 이심이100 및 무인수상선의 실해역 운동제어 성능실험

Abstract

This paper presents sea-trial results of motion controller for the ISiMI AUV and an USV(unmanned surface vehicle). Firstly, the analysis of motion characteristics of ISiMI00 AUV considering with the coupling motion among each degree of freedom, is presented. It is difficult to understand the motion characteristics quantitatively because the operating point is varied with the velocity of AUV and there are few researches about experimental analysis of AUV motions. This paper analyzes the control responses of ISiMI100 AUV based on the experimental results. Secondly, the sea-trial results of USV(unmanned surface vehicle) controller is presented. The USV was developed as an intermediate platform for the communication between AUV fleet and a mother ship or a control station on land. The USV needs the controller for the both of position keeping and tracking. This paper addresses a DP(dynamic positioning) control and a PTP(point-to-point) control of the USV which has two fixed thrusters. Experiments were carried out with the designed controller and the results were analyzed.