항주형 무인 잠수정의 수중 도킹을 위한 위치 오차에 따른 기준 선수 동요 생성 알고리즘 소개

Abstract

When a torpedo-type underactuated AUV moves forward to one-way directional docking station along a straight line, her heading and course become different under ocean current. Discrepancy between the AUV's heading and the dock's heading causes an impact at the entrance of the dock even when the position error is absent. Further difference between the AUV's course and the dock's heading increases position error because the AUV cannot compensate effect of ocean current and finally results in a failure of docking. In this paper, to avoid these two situation we introduce a algorithm of yaw-reference generation considering a sideslip angle of the AUV, position error and line-of-sight angle. We have conducted simulations and discussed the results.