자율무인잠수정(AUV) 선단의 작업우선순위 기반 유도제어기 설계와 시뮬레이션

Abstract

This paper presents a task-priority-based guidance and control system for the fleet of AUVs(Autonomous Underwater Vehicles). Presented method is an application of the null-space-based behavioral control to the underwater vehicles. The task to be achieved by the fleet is divided into smaller sub-tasks. From the kinematic relation between the task variables and vehicles' positions, desired velocities of vehicles to achieve higher-priority task are obtained from the least square solution. The velocities for lower-priority task are obtained by mapping the least square solution of the task to the null space of higher-priority task. To validate the algorithm, presented guidance system is simulated with a fleet of ISiM AUV which consists of three-vehicles and has three sub-tasks to be achieved. The 6-DOF nonlinear numerical model of ISiMI AUV and the attitude control system is used to complete the simulation of guidance and control system of the fleet. The results are presented and discussed in this paper.