두 개의 고정 추진기를 갖는 무인수상선의 동적 위치 제어

Abstract

The USV for this work, was designed as an intermediate platform for communication an AUV fleet with a mother ship or a control room on the ground. But, because of two fixed thruster, the USV must have special dynamic positioning method for autonomous navigation and maintenance of position. Therefor, this paper describes a method for the dynamic positioning of unmanned surface vehicle(USV) with two fixed thrusters. This method is based on both neural network control for decreasing steady state error occurred by fixed thrusters and PID control for speed control of thrusters. Through the fusion of these two controllers, the proposed method provides the input velocities of two fixed thrusters for the position and heading control of USV. The results of simulation using neural network PID controller and the dynamic model of USV, show that the proposed method is applied to real USV.