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Development of P-SURO II Hybrid Autonomous Underwater Vehicle and its Experimental Studies

P-SURO II 하이브리드 자율무인잠수정 기술 개발 및 현장 검증

  • Li, Ji-Hong (Applied Technology Division, Korea Institute of Robot and Convergence) ;
  • Lee, Mun-Jik (Applied Technology Division, Korea Institute of Robot and Convergence) ;
  • Park, Sang-Heon (Applied Technology Division, Korea Institute of Robot and Convergence) ;
  • Kim, Jung-Tae (Applied Technology Division, Korea Institute of Robot and Convergence) ;
  • Kim, Jong-Geol (Applied Technology Division, Korea Institute of Robot and Convergence) ;
  • Suh, Jin-Ho (Applied Technology Division, Korea Institute of Robot and Convergence)
  • 이계홍 (한국로봇융합연구원 실용기술연구본부) ;
  • 이문직 (한국로봇융합연구원 실용기술연구본부) ;
  • 박상현 (한국로봇융합연구원 실용기술연구본부) ;
  • 김정태 (한국로봇융합연구원 실용기술연구본부) ;
  • 김종걸 (한국로봇융합연구원 실용기술연구본부) ;
  • 서진호 (한국로봇융합연구원 실용기술연구본부)
  • Received : 2013.05.15
  • Accepted : 2013.06.30
  • Published : 2013.09.01

Abstract

In this paper, we present the development of P-SURO II hybrid AUV (Autonomous Underwater Vehicle) which can be operated in both of AUV and ROV (Remotely Operated Vehicle) modes. In its AUV mode, the vehicle is supposed to carry out some of underwater missions which are difficult to be achieved in ROV mode due to the tether cable. To accomplish its missions such as inspection and maintenance of complex underwater structures in AUV mode, the vehicle is required to have high level of autonomy including environmental recognition, obstacle avoidance, autonomous navigation, and so on. In addition to its systematic development issues, some of algorithmic issues are also discussed in this paper. Various experimental studies are also presented to demonstrate these developed autonomy algorithms.

Acknowledgement

Supported by : 산업통상자원부

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