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Development of the Hovering AUV test-bed and field test
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 Title & Authors
Development of the Hovering AUV test-bed and field test
Choi, Hyeung-Sik; Cho, Sohyung; Kim, Joon-Young;
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 Abstract
This paper describes the design and performance of a hovering AUV constructed at KMOU (Korea Maritime and Ocean University). Before the field test, we analyzed the dynamic performance of the AUV using a simulation program made by Matlab & Simulink. Also, a PID controller was designed to control the thrusters. Using 4 thrusters (2 vertical and 2 horizontal), the AUV could be controlled using dynamic motion with 4-DOF. A simulation and field test were conducted with way-point tracking, maintaining the desired depth. To perform way-point tracking, the AUV can be fine-tuned to the desired heading angle through the LOS (Line Of Sight) method. This paper shows the results of simulation and field tests.
 Keywords
Hovering AUV;Mathematical Modeling;PID controller;Simulation;Field test;
 Language
English
 Cited by
 References
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