소형 AUV '이심이'의 광학 유도 장치를 이용한 수중 도킹 알고리즘의 한계와 개선

Abstract

Limitation of underwater docking algorithm of AUV 'ISiMI' is present. We developed vision guided underwater docking algorithm and success of docking of ISiMI previously. But continuous underwater experiments revealed two main problems. First, it was possible to be effected by current. Therefore, the algorithm was not able to guide ISiMI to the dock precisely under current. Second, the algorithm did not align surge direction of ISiMI with the direction of the dock. It occurred collisions between ISiMI and the surface of the dock. To avoid these problems, we propose to install USBL(Ultra-short Baseline) to measure relative position between ISiMI and the Dock. Using the position information, we expect to eliminate the effect of current and to align ISiMI with the direction of the dock.