소형 자율항주 수중로봇의 시스템 설계와 초기성능시험

Abstract

KORDI (Korea Ocean Research and Development Institute) has developed a new small underwater cruising robot called ISIMI (Integrated Submergible for Intelligent Mission Implementation). The mission of the vehicle is to carry out the role as a platform for trial of challenging technologies newly investigated in the field of underwater robot. Underwater navigation and docking technology being studied in KORDI is one of the technologies to be tested on the ISIMI. The main design goal of ISIMI autonomous underwater vehicle is downsizing which will reduce substantially the operating cost compared to other vehicles previously developed in KORDI such as VORAM or DUSAUV. As a result of design and manufacturing process, ISIMI is implemented to be 1.2m in length, 0.17m in diameter and weigh 21 kg in air. The ISIMI is equipped with an AHRS(Attitude Heading Reference System), depth sensor, position tracking system, and a CCD camera for navigational purpose. A radio frequency modem and wired local area network are used for communication purpose with laptop computer. This paper presents overall design concept and implementation of ISIMI vehicle followed by initial test result.