수중도킹을 위한 자율무인잠수정 이심이의 최종 유도제어

Abstract

Maritime and Ocean Engineering Research Institute (MOERI), a branch of KORDI, has designed and manufactured a model of an autonomous underwater vehicle (AUV) named ISIMI. ISIMI is an AUV platform to satisfy the various needs of experimental test required for development of control architecture and software algorithm for AUVs. A series of tank test is conducted to verify the basic functions of ISIMI in 2005, which includes manual control with R/F link, auto depth control and auto heading control. In 2006, a final approach control for underwater docking was conducted in the Ocean Engineering Basin of MOERI as a first application mission of ISIMI. The final approach control is based on a visual servo control system consisting of a camera, an image grabber and motion sensors. ISIMI recognizes the target position by processing the captured image for the lights, which are installed around the end of the cone-type entrance of the duct. This paper presents a visual servo system of ISIMI and the experimental results of final approach control based on visual servo system.