Journal of the Society of Naval Architects of Korea (대한조선학회논문집)

The Society of Naval Architects of Korea (대한조선학회)
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A Study On the Position Control System of the Small ROV Using Sonar Sensors

소나 센서를 이용한 소형 ROV의 위치제어시스템에 관한 연구

  • Choi, Dong-Hyun (Project Planning Team 2, Samsung Heavy Industries) ;
  • Um, Geun-Nam (Dept. of Naval Architecture, Graduate School of Inha University) ;
  • Kim, Sang-Hyun (Dept. of Naval Architecture and Ocean Engineering, Inha University)
  • 최동현 (삼성중공업 기본설계 2팀) ;
  • 임근남 (인하대학교 대학원 선박공학과) ;
  • 김상현 (인하대학교 기계공학부 선박해양공학)
  • Published : 2008.12.31
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Abstract

In the past few years, there are many studies and researches of the underwater vehicles which are carried out its mission using sonar sensors. MSCL(Marine System Control Lab.) at Inha University developed test-bed small ROV, ISRO. ISRO is an open-frame type and has 4 thrusters. ISRO can control 4 motions i.e surge, sway, yaw and heave with sonar sensors. ISRO is developed for inspection of ship hull, marine structure, plant of lake or river and so on. When ROV ISRO inspects something, it is necessary to control the position of ROV ISRO's for the movement and anti-collision with structures in the underwater. In this paper, we deal with the development of a small ROV and verification of the position control system via simulation and experiment using sonar sensors.

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References

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