광학식 종단 유도 장치를 이용한 무인 잠수정 '이심이'의 수중 도킹 실험

Abstract

This paper introduces an optical terminal guidance system of an autonomous underwater vehicle(AUV) named ISIMI. ISIMI uses the optical terminal guidance system to make an underwater docking. The optical terminal guidance consists of a hardware system part and an control algorithm part. A CCD camera and a frame grabber constitute the hardware part. An image process and a visual servo algorithm are the algorithm part. A dock center which is a final approach target position of ISiMI is estimated by the image process and a reference yaw and a reference pitch are generated by the visual servo algorithm. Exprement results of the previous algorithm show imprecise approaches just before a contact of ISIMI and a dock. We improved the algorithm part without an improvement of the hardware system to eliminate the imprecise approach. We made an more precise underwater docking. Experiments were conducted in the Ocean Engineering Basin of MOERI.