IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
권호 표지
DOI QR코드

DOI QR Code

A Study on Guidance Methods of Mine Disposal Vehicle Considering the Sensor Errors

센서 오차를 고려한 기뢰제거용 무인잠수정의 유도방법

  • Received : 2017.07.31
  • Accepted : 2017.08.31
  • Published : 2017.10.31
Download PDF
⟨ Previous Next ⟩

Abstract

This paper introduces mathematical modelling and control algorithm of expendable mine disposal vehicle. This vehicle has two longitudinal thrusters, one vertical thruster and internal mass moving system which can control pitch rate. Also, the vehicle has an optical camera and forward looking sonar for underwater mine detection and classification. The vehicle is controlled via an optical cable connected with operating console on the mother ship. We describe the vehicle's 6DOF dynamic model and controller which can track the desired trajectory for the way-point tracking. These simulation results shows guidance and maneuvering performance which has other sensor data or not.

Keywords

References

  1. K.Y. Lee, “An Analysis of Required Technologies for Developing Unmanned Mine Countermeasure System Based on the Unmanned Underwater Vehicle,” Journal of the Korea Institute of Military Science and Technology, Vol. 14, No. 4, pp. 579-589, 2011 (in Korean). https://doi.org/10.9766/KIMST.2011.14.4.579
  2. J.N. Sur, "Current Status of Technology Development of Mine-countermeasure Warfare Using Underwater Vehicle," Journal of the defence science & technology information, Vol. 23, pp. 171-180, 2010 (in Korean).
  3. B. Fletcher, "Worldwide Undersea MCM Vehicle Technologies," Space and Naval Warfare System Center, San Diego, CA, Rep. MS-11, 2000.
  4. S.W. Byun, H.S. Kim, Y.N. Song, D.H. Park, Y.C. Son, J.N. Sur, "Status and Development Direction on Unmanned Underwater Vehicle for Mine Disposal," Proceedings of 2014 Spring Korean Unmanned Underwater Vehicle Conference, pp. 43-46, 2014 (in Korean).
  5. T.I. Fossen, "Guidance and Control of Ocean Vehicles," John Wiley & Sons Ltd., 1994.
  6. M. Breivik, T.I. Fossen, "Principles of Guidance-based Path Following in 2D and 3D," Proceedings of 44th IEEE Conference Decision Control, pp. 627-634, 2005.
  7. D.B. Marco, A.J. Healey, “Command, Control, and Navigation Experimental Results with the NPS ARIES AUV,” IEEE Journal of Oceanic Engineering, Vol. 26, No. 4, pp. 466-476, 2001. https://doi.org/10.1109/48.972079
  8. D. Lienard, A.J. Healey, “Multivariable Sliding Mode Control for Autonomous Diving and Steering of Unmanned Underwater Vehicles,” IEEE Journal of Oceanic Engineering, Vol. 18, No. 3, pp. 327-339, 1993. https://doi.org/10.1109/JOE.1993.236372
  9. J.E. Refsnes, A.J. Sorensen, K.Y. Pettersen, "Model-Based Output Feedback Control of Slender-Body Underactuated AUVs: Theory and Experiments," IEEE Transactions on Control Systems Technology, Vol. 16, No. 5, pp. 930-946, 2008. https://doi.org/10.1109/TCST.2007.916347
  10. M.G. Joo, "Depth Control of Underwater Glider by Lyapunov's Direct Method," IEMEK J. Embed. Sys. Appl., Vol. 12, No. 2, pp. 105-112, 2017 (in Korean). https://doi.org/10.14372/IEMEK.2017.12.2.105