진보된 자율 항행 잠수정의 시스템 아키텍처 설계

Abstract

Recently, great improvements have been made in developing autonomous underwater vehicles (AUVs) using state-of-the-art technologies for various kinds of sophisticated underwater missions. To meet increasing demands posed on an AUV, an AUV should have a powerful on-board computer system and accurate sensor system with well-organized control system architecture. In this paper, new control system architecture is proposed for AUV which is being currently developed by Korea Research Institute of Ships and Ocean Engineering (KRISO). The proposed architecture uses hybrid architecture which includes hierarchical architecture and behavior based control architecture with an evaluator as a coordinator between them. Also, a sensor fusion scheme concept is proposed which is based on the definition of 4 sensor categories called a grouping and a 5-step data processing procedure.