Design and Control of 6 D.O.F(Degrees of Freedom) Hovering AUV

6자유도 호버링 AUV의 설계 및 제어

  • Jeong, Sang-Ki (Korea Institute of Ocean Science & Technology (KIOST)) ;
  • Choi, Hyeung-Sik (Division of Mechanical and Energy System Eng., Korea Maritime University) ;
  • Seo, Jung-Min (Division of Mechanical and Energy System Eng., Korea Maritime University) ;
  • Tran, Ngoc Huy (Division of Mechanical and Energy System Eng., Korea Maritime University) ;
  • Kim, Joon-Young (Division of Marine Equipment Department., Korea Maritime University)
  • 정상기 (한국해양과학기술원) ;
  • 최형식 (한국해양대학교 기계시스템 공학) ;
  • 서정민 (한국해양대학교 기계시스템 공학) ;
  • ;
  • 김준영 (한국해양대학교 조선기자재 공학)
  • Received : 2013.05.15
  • Accepted : 2013.06.30
  • Published : 2013.09.01


In this paper, a study of a new hovering six dof underwater robot with redundant horizontal thrusters, titled HAUV (hovering AUV), is presented. The results of study on the structure design, deployment of thrusters, and development of the developed control system of the AUV was presented. For the HAUV structure, a structure design and an analysis of the thrusting system was performed. For navigation, a sensor fusion board which can proceed various sensor signals to identify correct positions and speeds was developed and a total control system including EKF (Extended Kalman Filter) was designed. Rolling, pitching and depth control tests of the HAUV have been performed, and relatively small angle error and depth tracking error results were shown.


Grant : 다관절복합이동해저로봇개발, 해양산업고도화를 위한 핵심 해양장비 개발

Supported by : 국토해양부


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