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

DC Field Value Language
dc.contributor.author Jeong, S.-K. -
dc.contributor.author Choi, H.-S. -
dc.contributor.author Seo, J.-M. -
dc.contributor.author Huy, T.N. -
dc.contributor.author Kim, J.-Y. -
dc.date.accessioned 2020-04-20T05:55:32Z -
dc.date.available 2020-04-20T05:55:32Z -
dc.date.created 2020-01-28 -
dc.date.issued 2013 -
dc.identifier.issn 1976-5622 -
dc.identifier.uri https://sciwatch.kiost.ac.kr/handle/2020.kiost/3291 -
dc.description.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. -
dc.description.uri 3 -
dc.language Korean -
dc.subject CROV (Convertible remotely operated vehicle) -
dc.subject Design and control -
dc.subject EKF (extended Kalman filter) -
dc.subject HAUV (Hovering type autonomous unmaned vehicl) -
dc.subject Horizontal thrusters -
dc.subject Structure design -
dc.subject Tracking errors -
dc.subject Underwater robots -
dc.subject Control systems -
dc.subject Design -
dc.subject Extended Kalman filters -
dc.subject Remotely operated vehicles -
dc.subject Robots -
dc.subject Sensors -
dc.subject Autonomous underwater vehicles -
dc.title Design and control of 6 D.O.F(Degrees of freedom) hovering AUV -
dc.type Article -
dc.citation.endPage 804 -
dc.citation.startPage 797 -
dc.citation.title Journal of Institute of Control, Robotics and Systems -
dc.citation.volume 19 -
dc.citation.number 9 -
dc.contributor.alternativeName 정상기 -
dc.identifier.bibliographicCitation Journal of Institute of Control, Robotics and Systems, v.19, no.9, pp.797 - 804 -
dc.identifier.doi 10.5302/J.ICROS.2013.13.9025 -
dc.identifier.scopusid 2-s2.0-84887138501 -
dc.type.docType Article -
dc.identifier.kciid ART001800127 -
dc.description.journalClass 3 -
dc.subject.keywordPlus CROV (Convertible remotely operated vehicle) -
dc.subject.keywordPlus Design and control -
dc.subject.keywordPlus EKF (extended Kalman filter) -
dc.subject.keywordPlus HAUV (Hovering type autonomous unmaned vehicl) -
dc.subject.keywordPlus Horizontal thrusters -
dc.subject.keywordPlus Structure design -
dc.subject.keywordPlus Tracking errors -
dc.subject.keywordPlus Underwater robots -
dc.subject.keywordPlus Control systems -
dc.subject.keywordPlus Design -
dc.subject.keywordPlus Extended Kalman filters -
dc.subject.keywordPlus Remotely operated vehicles -
dc.subject.keywordPlus Robots -
dc.subject.keywordPlus Sensors -
dc.subject.keywordPlus Autonomous underwater vehicles -
dc.subject.keywordAuthor CROV (Convertible remotely operated vehicle) -
dc.subject.keywordAuthor HAUV (Hovering type autonomous unmaned vehicl) -
dc.description.journalRegisteredClass scopus -
dc.description.journalRegisteredClass kci -
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