반자율 무인잠수정을 위한 실시간 제어아키택쳐

Abstract

This paper describes a real-time control architecture for DUSAUV (Dual Use Semi-Autonomous Underwater Vehicle), which has been developed at Korea Research Institute of Ships & Ocean Engineer-ing (KRISO) for being a test-bed to develop underwater navigation and manipulator technologies. DUSAUV has three built-in computers, seven thrusters for 6 DOF motion control, one 4-function electric manipu-lator, one ballasting motor, embedded power source, and other complementary sensors. A supervisor control system with a GUI and a multi-purpose joystick is mounted on a surface vessel and communicates with the underwater vehicle through a fiber optic link. Further-more, QNX, one of real-time operating system, is ported on the built-in control and navigation com-puters for real-time control purpose, while Microsoft OS product is ported in the supervisor computer for GUI programming convenience. A hierarchical control architecture, which consists of application layer, real-time layer and physical layer, has been developed for efficient control system of the complex underwater robotic system. This paper also presents the experi-menttal results with implementation of the layered control architecture for various motion control of DUSAUV in a basin of KRISO is also presented.