수중탐사용 Hovering AUV의 Test-bed 개발

Abstract

This paper describes the design and performance of a hovering AUV test-bed 'NOAH' constructed and analyses the dynamic performance of the underwater vehicle using simulation program MATLAB/SIMULINK and carry out depth control test at small basin. The main purpose of 'NOAH' is to carry out fundamental tests on its station keeping, attitude control, and position control. It can be a tool to evaluate the performance of a new control algorithm, operating software and the characteristics of sensors for the AUV. Its configuration is similar to the general ROV appearance for underwater explorations and its dimensions are 0.75m×0.5m×0.5m. It has 4 thrusters, two longitudinal thrusters that had 350watts and one lateral/vertical thruster that has 300watts propulsion. The vehicle is equipped with a pressure sensor for measuring water depth and a magnetic compass for measuring heading angle. The navigation of the vehicle is controlled by an small on-board Pentium III-class computer, which runs with the help of the Windows XP operating system. These give us an ideal environment for developing various algorithms needed for developing and advancing hovering AUV.