HAUV의 경유점 추적을 위한 제어기 설계

Abstract

Recently, the Earth is faced with the problem of the energy shortage due to resource depletion. Underwater resource has been regarded as an answer to the problem. Underwater robot in underwater resources development is an essential equipment. Underwater robot is classified as ROV(remotely operated vehicle) and AUV(autonomous underwater vehicle). The AUV can be separated by hovering type and cruzing type depending on the travel distance for a mission. HAUV(Hovering type AUV) is suitable to perform a detailed scrutiny or a mission of the particular region. Thus HAUV is chosen for the underwater resource exploration and maintenance of structures of marine plant. In this study, a HAUV is designed to track a series of way-points. It consists of 5 thrusters and 4 parts. The thrusters of HAUV consists of two azimuth thrusters as main thrusters, and two horizontal and a vertical tunnel thrusters as assisting thrusters. The units of HAUV are composed of a main control unit, a motor control unit, an electronic system power supply unit, and a thruster power supply unit. By using the Matlab / Simulink to verify the autonomous driving and underwater mission capability of HAUV, we design a simulator of tracking way-points. We propose a PID controller for tracking way-points of HAUV. The way-points are set to three paths assuming the HAUV monitors a imaginary underwater plant. The heading angle of HAUV is controlled to look the marine plant structure. The simulation shows that the proposed controller of the HAUV can track way-points with error less than ± 1m.