DOI QR코드

DOI QR Code

A Basic Study of Water Basin Experiment for Underwater Robot with Improving usability

사용자 운용 편의성을 위한 수중로봇 MR-1의 수조실험에 관한 연구

  • Nam, Keonseok (Marine Robot Center, Korea Institute of Industrial Technology (KITECH)) ;
  • Ryu, Jedoo (Marine Robot Center, Korea Institute of Industrial Technology (KITECH)) ;
  • Ha, Kyoungnam (Marine Robot Center, Korea Institute of Industrial Technology (KITECH))
  • Received : 2019.11.28
  • Accepted : 2020.01.12
  • Published : 2020.02.28

Abstract

This paper describes a method for tracking attitude and position of underwater robots. Underwater work with underwater robots is subject to differences in work efficiency depending on the skill of the operator and the utilization of additional sensors. Therefore, this study developed an underwater robot that can operate autonomously and maintain a certain attitude when working underwater to reduce difference of work efficiency. The developed underwater robot uses 8 thrusters to control 6 degrees of freedom motion, IMU (Inertial Measurement Unit), DVL (Doppler Velocity Log) and PS (Pressure Sensor) to measure attitude and position. In addition, the thruster allocation algorithm was designed to follow the control desired value using 8 thrusters, and the motion control experiments were performed in the engineering water basin using the thruster allocation method.

Keywords

References

  1. R. D. Christ and Sr. R. L. Wernli, "The ROV Business," The ROV Manual: a User Guide for Remotely Operated Vehicles, 2nd ed., Butterworth-Heinemann, 2013, pp. 1-20.
  2. L. L. Whitcomb, "Underwater robotics: Out of the research laboratory and into the field," 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), San Francisco, CA, USA, pp. 709-716, 2000.
  3. A. Pascoal, P. Oliveira, C. Silvestre, L. Sebastiao, M. Rufino, V. Barroso, J. Gomes, G. Ayela, P. Coince, M. Cardew, A. Ryan, H. Braithwaite, N. Cardew, J. Trepte, N. Seube, J. Champeau, P. Dhaussy, V. Sauce, R. Moitie, R. Santos, F. Cardigos, M. Brussieux, and P. Dando, "Robotic Ocean Vehicles for Marine Science Applications: the European ASIMOV Project," OCEANS 2000 MTS/IEEE Conference and Exhibition. Conference Proceedings (Cat. No.00CH37158), Providence, RI, USA, 2000.
  4. T. I. Fossen, "Modeling of Marine Vehicles," Guidance and Control of Ocean Vehicles, vol. 199, no. 4, New York: Wiley, pp. 6-56, 1994.
  5. D. H. Kim, "Redundancy Resolution and Robust Controller Design for Dynamic Stability Enhancement of Underwater Vehicle-Manipulator System," Ph.D. dissertation, Graduate School of Korea Maritime and Ocean University, Busan, Korea, 2016.

Cited by

  1. 수중 구조물 검사를 위한 ROV 시스템 설계 연구 vol.23, pp.3, 2020, https://doi.org/10.21289/ksic.2020.23.3.463