A NEW COMPLEX MARINE UNMANNED PLATFORM AND FIELD TEST SCIE SCOPUS

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Title
A NEW COMPLEX MARINE UNMANNED PLATFORM AND FIELD TEST
Author(s)
Lee, Jihyeong; Jin, Han-Sol; Cho, Hyunjoon; Jiafeng, Huang; Jeong, Sang Ki; Ji, Dae-Hyeong; Choi, Hyeung-Sik
KIOST Author(s)
Jeong, Sang Ki(정상기)Ji, Dae Hyeong(지대형)
Publication Year
2020-12
Abstract
This paper presents the development of a new complex marine unmanned platform composed of an unmanned surface vehicle (USV) and a remotely operated vehicle (ROV), and the results of a sea test. The platform structure, control system, sensor system, and control algorithm were developed and are introduced. The complex platform collects information of the underwater structures, such as the wall, floor, and piers and harbors. Using a tether cable, the ROV is connected to the USV for power supply and to receive a large amount of underwater data obtained using a sonar scanner or a camera in real time. The ultra-short baseline transponder is attached to the USV hull to determine the position of the ROV in real time where a transponder is installed. The ROV can be launched and recovered using the winch system installed on the USV. The data collected by the two vehicles can be transmitted to an operating center in real time via radio frequency (RF) communications. A new CTE tracking algorithm and a dynamic positioning algorithm are proposed. The proposed algorithms are implemented by conducting sea tests, and the results of the performance tests are presented. In particular, for the hovering control of the ROV, a proportional-integral-differential (PID) controller and a robust sliding mode control (SMC) are applied, and the superior performance of the SMC is presented.
ISSN
1023-2796
URI
https://sciwatch.kiost.ac.kr/handle/2020.kiost/39682
DOI
10.6119/JMST.202012_28(6).0009
Bibliographic Citation
JOURNAL OF MARINE SCIENCE AND TECHNOLOGY-TAIWAN, v.28, no.6, pp.538 - 547, 2020
Publisher
NATL TAIWAN OCEAN UNIV
Subject
Proportional control systems; Sliding mode control; Transponders; Underwater acoustic communication; Unmanned surface vehicles; Winches; Operating centers; Performance tests; Positioning algorithms; Radio frequency communication; Remotely Operated Vehicles (ROV); Robust sliding mode; Tracking algorithm; Ultra-short baselines; Remotely operated vehicles
Keywords
unmanned surface vehicle; unmanned underwater vehicle; complex marine unmanned platform; dynamic positioning
Type
Article
Language
English
Document Type
Article
Publisher
NATL TAIWAN OCEAN UNIV
Related Researcher
Research Interests

Unmanned system,Marine security,무인체계,해양방위

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