Development and Field Test of Unmanned Marine Vehicle (USV/UUV) With cable
| Autor: | Keon Seok Nam, Dong Gu Lee, Sung Min Hong, Kyoung Nam Ha, Je Doo Ryu |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
pure-pursuit method
0209 industrial biotechnology Unmanned surface vehicle General Computer Science Computer science field test General Engineering leader-follower method 02 engineering and technology 021001 nanoscience & nanotechnology anti-windup controller Attitude control unmanned underwater vehicle 020901 industrial engineering & automation Control theory Ocean exploration General Materials Science Unmanned underwater vehicle lcsh:Electrical engineering. Electronics. Nuclear engineering Underwater 0210 nano-technology Actuator lcsh:TK1-9971 Marine engineering |
| Zdroj: | IEEE Access, Vol 8, Pp 193347-193355 (2020) |
| ISSN: | 2169-3536 |
| Popis: | This paper presents the system, controller, and field test results of an unmanned marine vehicle (UMV) developed to acquire real-time ocean exploration information. The system consists of an unmanned surface vehicle (USV), an unmanned underwater vehicle (UUV), and an underwater cable. The developed platform is a research platform for ocean exploration and was proposed to compensate for the shortcomings of the existing USV, UUV, and towing system. This paper describes the proposed UMV, including the design considerations such as electronics architecture, data management, sensors, and actuators and explains the path control algorithm and controller used to follow the specified path for ocean exploration. In order to confirm the performance of the developed platform and control algorithm, a way-point tracking experiment was performed, and the results are shown. |
| Databáze: | OpenAIRE |
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