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J. Ocean Eng. Technol. 2007;21(3):33-39.    

Study on the Docking Algorithm for Underwater-Docking of an AUV Using Visual Guidance Device
Choi, Dong-Hyun;Jun, Bong-Huan;Lee, Pan-Mook;Kim, Sang-Hyun;Lim, Geun-Nam;
Dept. of Naval Architecture, Graduate School of INHA Univ.;Maritime & Ocean Engineering Research Institute, KORDI;Maritime & Ocean Engineering Research Institute, KORDI;Dept. of Naval Architecture & Ocean Engineering, School of Mechanical Engineering, INH
광학식 유도장치를 이용한 자율 무인잠수정의 수중 도킹 알고리즘에 관한 연구
최동현;전봉환;이판묵;김상현;임근남;
인하대학교 대학원 선박공학과;한국해양연구원 해양시스템안전연구소 해양탐사장비연구사업단;한국해양연구원 해양시스템안전연구소 해양탐사장비연구사업단;인하대학교 기계공학부 선박해양공학;인하대학교 기계공학부 선박해양공학;
© 2007 The Korean Society of Ocean Engineers     Open access / Under a Creative Commons License
Keywords: Autonomous underwater vehicle, Visual guidance device, Docking Device, Underwater docking system, Visual Servoing
핵심용어: 자율무인 잠수정, 광학식 유도장치, 도킹 장치, 수중 도킹 시스템, 비주얼 서보잉
Abstract
The more deeply the researches make progress in ocean researches including the seabed resource investigation or the oceanic ecosystem investigation, the more important the role of UUV gets. In case of study on the deep sea, there are difficulties in telecommunications between AUV and ships, and in data communication and recharging. Therefore, docking is required. In AUV docking system, the AUV should identify the position of docking device and make contact with a certain point of docking device. MOERI (Maritime & Ocean Engineering Research Institute), KORDI has conducted the docking testing on AUV ISIMI in KORDI ocean engineering water tank. As AUV ISIMI approachs the docking device, there is some cases of showing an unstable attitude, because the lights which is on Image Frame are disappeared. So we propose the docking algorithm that is fixing the rudder and stem, if the lights on image frame are reaching the specific area in the Image Frame. Also we propose the new docking device, which has a variety of position and light number. In this paper, we intend to solve the some cases of showing an unstable attitude that were found in the testing, which, first, will be identified the validity via simulation.
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