Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Docking System for Unmanned Underwater Vehicle using Reduced Signal Strength Indicator

전자기파의 감쇄신호를 이용한 무인 잠수정의 도킹시스템 개발

  • Lee, Gi-Hyeon (Department of Mechanical Engineering, Seoul National University of Science & Technology) ;
  • Kim, Jin-Hyun (Department of Mechanical Engineering, Seoul National University of Science & Technology)
  • 이기현 (서울과학기술대학교 기계공학과) ;
  • 김진현 (서울과학기술대학교 기계공학과)
  • Received : 2012.06.01
  • Accepted : 2012.08.08
  • Published : 2012.09.01
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Abstract

According to increasing the importance of underwater environments, the needs of UUV are growing. This paper represents the mechanism and algorithm of UUV docking system with 21-inch torpedo tubes for military submarines as a docking station. To improve the reliability of the docking, torpedo tubes launch a wired ROV and next the ROV combined with UUV is retrieved. For estimating the relative position between the ROV and UUV, in this paper, combining RF sensors and vision system is proposed. The RSSI method of RF sensors is used to estimate the distance and the optical image is combined for the directional information.

Keywords

References

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