수중항법 알고리즘을 위한 미내로 운동학 파라미터 예측
Estimation of MineRo’s Kinematic Parameters for Underwater Navigation Algorithm
0
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
A test miner named MineRo was constructed for the purpose of shallow water test of mining performance. In June of 2009, the performance test was conducted in depth of 100 m, 5 km away from Hupo-port (Korean East Sea), to assess if the developed system is able to collect and lift manganese nodules from seafloor. In August of 2010, in-situ test of automatic path tracking control of MineRo was performed in depth of 120 m at the same site. For path tracking control, a localization algorithm determining MineRo's position on seabed is prerequisite. This study proposes an improved underwater navigation algorithm through estimation of MineRo’s kinematic parameters. In general, the kinematic parameters such as track slips and slip angle are indirectly calculated using the position data from USBL (Ultra-Short Base Line)system and heading data from gyro sensors. However, the obtained data values are likely to be different from the real values, primarily due to the random noise of position data. The aim of this study is to enhance the reliability of the algorithm by measuring kinematic parameters, track slips and slip angle.
Abstract
A test miner named MineRo was constructed for the purpose of shallow water test of mining performance. In June of 2009, the performance test was conducted in depth of 100 m, 5 km away from Hupo-port (Korean East Sea), to assess if the developed system is able to collect and lift manganese nodules from seafloor. In August of 2010, in-situ test of automatic path tracking control of MineRo was performed in depth of 120 m at the same site. For path tracking control, a localization algorithm determining MineRo's position on seabed is prerequisite. This study proposes an improved underwater navigation algorithm through estimation of MineRo’s kinematic parameters. In general, the kinematic parameters such as track slips and slip angle are indirectly calculated using the position data from USBL (Ultra-Short Base Line)system and heading data from gyro sensors. However, the obtained data values are likely to be different from the real values, primarily due to the random noise of position data. The aim of this study is to enhance the reliability of the algorithm by measuring kinematic parameters, track slips and slip angle.
참고문헌 (8)
- 심해저 망간단 괴 집광시스템 개발 및 채광운용기술 개발, "홍섭", 한국해양연구원, ~, pp.CRPM54901-2171-5 (2009)
- 여태경, "근해역 시험집광기 항법 알고리즘 개발을 위한 기초 연구", 2009년도 한국해양공학회 추계학술대회 논문집, pp.273~276 (2009), 삼성중공업(주) 기술연구원
- Le AT, "Modeling and control of tracked vehicle", 석사, pp.1999
- Grewal MS, "Kalman filtering: theory and practice using MATLAB", pp.416~ (2001), John Wiley & Sons
- Kinsey JC, "A survey of underwater vehicle navigation: recent advances and new challenges", Proc of the 7th IFAC Conference of Maneuvering and Control of Marine Craft (2006)
- Song Z, "Non-linear observer for slip estimation of skid-steering vehicles", Proc of the 2006 IEEE International Conference on Robotics and Automation, pp.1499~1504 (2006)
- Gonzalez R, "Localization and control of tracked mobile robots under slip conditions", Proc of the 2009 IEEE International Conference on Mechatronics, pp.1~6 (2009)
- 홍섭, "A path tracking control algorithm for underwater mining vehicles", Journal of Mechanical Science and Technology, 23(8), pp.2030~2037 (2009), 대한기계학회