다수 AUV를 이용한 수중탐사선단 구현의 한계점과 극복 방안 연구

Abstract

This paper describes the constraints and requirements for the implementation of the AUVs fleet. The communication and cooperation in the underwater environment are the key technologies for the operation of Multiple-AUVs (MAUVs). In underwater environment, however, the acoustic communication is seriously constrained by the physical phenomena such as spreading, absorption, scattering, multipath, and shadow zone. The communication limits affect to the cooperating performance of MAUVs. Furthermore, the effective formation control of MAUVs become another problem to be considered when the AUVs are underactuated system. In this study, we enumerates the constraints for communication and co-ordination between the AUVs and presents the requirements and a scheme for the implementation of the cooperating AUVs.