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Development of hovering-type AUV test-bed 'OCTAGON'
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 Title & Authors
Development of hovering-type AUV test-bed 'OCTAGON'
Choi, Dong-Ho; Lee, Young-Jin; Hong, Sung-Min; Kim, Joon-Young;
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 Abstract
This paper introduces a hovering-type autonomous underwater vehicle (AUV) developed for research and its fundamental motion performance results obtained by simulation and field test. The AUV can control its motion in four degrees of freedom (DOF) by means of its horizontal and vertical thrusters, and it is designed to provide a test-bed that facilitates ease of operation and experimentation. Prior to the field tests, six DOF equations of motion are developed, and a simulation program is constructed using MATLAB and Simulink to verify the essential motion performance of the designed vehicle. Furthermore, a proportional-integral-derivative (PID) controller and fuzzy PID controller are designed, and their performances are verified through a simulation. Field tests are performed to verify the motion performance of the AUV; way-point tracking is executed by the PID and fuzzy PID controllers. The results confirmed appropriate control performance under current disturbances.
 Keywords
Hovering-type AUV;PID controller;Fuzzy PID controller;6 DOF equations of motion;Field test;
 Language
Korean
 Cited by
 References
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