심해저 주행차량의 경로추정 알고리듬

Abstract

In this paper, we suggest a path tracking control algorithm for tracked underwater mining vehicles. The algorithm consists of two parts, which are forward velocity control and heading angle control. The control algorithm is designed based on the kinematics considering the track slips, and the longitudinal and yaw dynamic models of the tracked vehicle including the soil ?track interaction force model. The desired heading angle is obtained by the so called “Line of Sight” method. The suggested algorithm is tested by numerical simulations using TRACSIM software developed by MOERO/KORDI, Korea. After the control gain tuning process by the simulation, the algorithm is verified by a model scale tracked vehicle in air on a soil bin containing cohesive soil of Bentonite-water mixture.