자율무인잠수정의 항법성능 사전 검증을 위한 시험치구 개발
Development of Test-Equipment for AUVs’ Navigation Performance Pre-verification
0
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
This paper describes the development of a test-equipment for the pre-verification of navigation performance in cluster-based AUVs (Autonomous Underwater Vehicle). In the development of an AUV, conducting hardware and software development sequentially is not efficient due to the limited research and development period. Therefore, in order to reduce the overall development time and achieve successful development results, it is essential to pre-validate the navigation system and navigation algorithms. Accordingly, this paper explains the test-equipment for pre-verification of navigation performance, and ultimately confirms the stability of the navigation system and the performance of the navigation algorithms through the analysis of five types of navigation sensor data stored during real-sea experiments. The results demonstrate that through the development and verification of the test-equipment, it is possible to shorten the overall development period and improvement of product quality in the process of developing multiple AUVs.
Abstract
This paper describes the development of a test-equipment for the pre-verification of navigation performance in cluster-based AUVs (Autonomous Underwater Vehicle). In the development of an AUV, conducting hardware and software development sequentially is not efficient due to the limited research and development period. Therefore, in order to reduce the overall development time and achieve successful development results, it is essential to pre-validate the navigation system and navigation algorithms. Accordingly, this paper explains the test-equipment for pre-verification of navigation performance, and ultimately confirms the stability of the navigation system and the performance of the navigation algorithms through the analysis of five types of navigation sensor data stored during real-sea experiments. The results demonstrate that through the development and verification of the test-equipment, it is possible to shorten the overall development period and improvement of product quality in the process of developing multiple AUVs.
참고문헌 (13)
- 전봉환, "항주형 AUV(자율 수중로봇)의 기술동향", 한국정밀공학회지, 26(5), pp.14~22 (2009), 한국정밀공학회
- Xiang Cao, "Multi-AUV cooperative target search and tracking in unknown underwater environment", Ocean Engineering, 150, pp.1~11 (2018), Elsevier BV[DOI]
- Bin Xin, "Overview of Research on Transformation of Multi-AUV Formations", Complex System Modeling and Simulation, 1(1), pp.1~14 (2021), Institute of Electrical and Electronics Engineers (IEEE)[DOI]
- Enrica Soria, "SwarmLab: a Matlab Drone Swarm Simulator", 2020 IEEE, 2020, 8005~8011[DOI]
- Ali E. Turgut, "Self-organized flocking in mobile robot swarms", Swarm Intelligence, 2(2-4), pp.97~120 (2008), Springer Science and Business Media LLC[DOI]
- 이산하, "다중 무인 항공기 이용 감시 및 탐색 경로 계획 생성", 로봇학회 논문지, 18(1), pp.1~9 (2023), 한국로봇학회[DOI]
- 김동희, "군집 운용을 위한 무인수상정 시스템 개발 및 자율운항 성능시험", 제어.로봇.시스템학회 논문지, 28(5), pp.420~426 (2022), 제어·로봇·시스템학회[DOI]
- 최동호, "군집 무인수상정 운용을 위한 무선통신 토폴로지 설계 및 구현", 한국정보기술학회논문지, 20(8), pp.79~89 (2022), 한국정보기술학회[DOI]
- 최기환, "3차원 상대 관측 정보를 통한 다중자율무인잠수정의 위치추정 알고리즘", 로봇학회 논문지, 17(2), pp.110~117 (2022), 한국로봇학회[DOI]
- 이권수, "상대 관측 정보 신뢰도 판단을 통한 다중자율무인잠수정의 정밀한 위치 추정", 제어.로봇.시스템학회 논문지, 28(6), pp.558~565 (2022), 제어·로봇·시스템학회[DOI]
- 강형주, "Mission Management Technique for Multi-sensor-based AUV Docking", 한국해양공학회지, 36(3), pp.181~193 (2022), 한국해양공학회[DOI]
- 이권수, "병렬 학습 모듈을 통한 자율무인잠수정의 강인한 위치 추정", 로봇학회 논문지, 16(4), pp.306~312 (2021), 한국로봇학회
- 추진우, "자율무인잠수정의 위치 기반 운항 중 정렬 기법", 제어.로봇.시스템학회 논문지, 26(8), pp.649~659 (2020), 제어·로봇·시스템학회[DOI]