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Design, Control and Localization of Underwater Mine Disposal Robots

수중 기뢰 제거 로봇의 설계, 제어 및 위치 추정

  • Moon, Yong Seon (Dept. of Electronics Eng., Sunchon National University) ;
  • Ko, Nak Yong (Dept. Control, Instrumentation, and Robot Eng., Chosun University) ;
  • Sur, Joono (Naval Systems R&D Center, Samsung Thales Co. Ltd.)
  • 문용선 (순천대학교 전자공학과) ;
  • 고낙용 (조선대학교 제어계측로봇공학과) ;
  • 서주노 (삼성탈레스(주) 해양시스템연구소)
  • Received : 2013.05.15
  • Accepted : 2013.06.30
  • Published : 2013.09.01

Abstract

This paper describes the design, control, and localization which comprise major aspects of the development of underwater robots for the mine disposal. The developed robots are called the Mine Killer (MK-1) and MK-2. MK-1 had been developed from September 2009 and was presented at the 9-th International Symposium at NPS Monterey CA, on May 17-21, 2010[1]. The paper presents design of MK-1 and MK-2 in detail with comparison of these two versions of MKs. Then it derives hydrodynamic coefficients of MK-1. Based on the coefficients, the motion of MK-1 is simulated for straight line motion and circular motion. Also simulation results for PD control, LQ control and sliding mode control are presented. Finally, it shows a particle filter method for localization of MK-1 and MK-2 using simple range data from acoustic beacons.

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