수중운동체의 수평면 및 수직면에서의 장애물 회피 시스템에 관한 연구

Abstract

An Obstacle Avoidance System (OAS) of Underwater Vehicle (UV) in horizontal and vertical plane is developed. The concept of Imaginary Reference Line (IRL), similar to as the seabed in the vertical plane avoidance algorithm, is introduced to apply the horizontal plane avoidance algorithm to the horizontal plane algorithm. Furthermore, the distance to the obstacle from a UV and the slope information of the obstacle are used for more efficient and safer avoidance. As for the control algorithm, the sliding mode controller is adopted to consider the nonlinearity of the equations of motion and to get the robust control system. To verify the performance of the designed OAS, numerical simulations are carried out on the cases of some presumed three-dimensional obstacles. The design parameter of the sonar and the clearance factor used in avoidance algorithm are also investigated and the detection range of sonar is proven to be a significant parameter to the performance of the avoidance. Through these, it is found that the designed avoidance system can successfully cope with various obstacles.