Design and control of 6 D.O.F(Degrees of freedom) hovering AUV SCOPUS KCI

Title
Design and control of 6 D.O.F(Degrees of freedom) hovering AUV
Author(s)
Jeong, S.-K.; Choi, H.-S.; Seo, J.-M.; Huy, T.N.; Kim, J.-Y.
KIOST Author(s)
Jeong, Sang Ki(정상기)
Publication Year
2013
Abstract
In this paper, a study of a new hovering six dof underwater robot with redundant horizontal thrusters, titled HAUV (hovering AUV), is presented. The results of study on the structure design, deployment of thrusters, and development of the developed control system of the AUV was presented. For the HAUV structure, a structure design and an analysis of the thrusting system was performed. For navigation, a sensor fusion board which can proceed various sensor signals to identify correct positions and speeds was developed and a total control system including EKF (Extended Kalman Filter) was designed. Rolling, pitching and depth control tests of the HAUV have been performed, and relatively small angle error and depth tracking error results were shown. © ICROS 2013.
ISSN
1976-5622
URI
https://sciwatch.kiost.ac.kr/handle/2020.kiost/3291
DOI
10.5302/J.ICROS.2013.13.9025
Bibliographic Citation
Journal of Institute of Control, Robotics and Systems, v.19, no.9, pp.797 - 804, 2013
Subject
CROV (Convertible remotely operated vehicle); Design and control; EKF (extended Kalman filter); HAUV (Hovering type autonomous unmaned vehicl); Horizontal thrusters; Structure design; Tracking errors; Underwater robots; Control systems; Design; Extended Kalman filters; Remotely operated vehicles; Robots; Sensors; Autonomous underwater vehicles
Keywords
CROV (Convertible remotely operated vehicle); HAUV (Hovering type autonomous unmaned vehicl)
Type
Article
Language
Korean
Document Type
Article
Related Researcher
Research Interests

Marine unmanned equipment system research,Mechanical system,해양 무인화 장비 시스템 연구,기계시스템

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