무인 잠수정의 자세 제어와 수중 도킹을 위한 비쥬얼 서보 제어에 관한 연구

Abstract

This paper introduces a small AUV(Autonomous Underwater Vehicle) developed in Korea Research Institute of Ships and Ocean Engineering (KRISO), KORDI of Korea. This AUV is a testbed, named ISIMI, and an upgraded version of the previous model, ASUM. It is 1.2m in length, 0.17m in diameter and 21kg heavy in the air. Its size and weight are determined in order to conduct experiments by two or three operators. We propose its inner system and structure of control software. This system can perform the real-time attitude control and image process for visual servo control. An operator gives ISIMI a control command through RF wireless communication. Hence there is no physical connection exists. We have designed the heading- and depth controllers based on PD-control. Finally, the visual servo control algorithm is proposed for underwater docking. The results of experiments in the water basin are shown.