Title :
Development of a robotic anchoring system for underwater vehicle under water current
Author :
Pyo, Juhyun ; Yu, Son-Cheol ; Park, Jong-Chun ; Park, Sung-Chul
Author_Institution :
POSTECH Ocean Sci. & Technol. Inst., Pohang, South Korea
Abstract :
This paper presents a positioning method for UUV using an anchor. The anchor system can be significantly effective means of the position control for the vehicle under strong ocean current. Adjusting the wire tension using the vehicle attached winch allows the position control of the vehicle. The modeling of the proposed system and the positioning performance under the steady state flow condition is discussed. This study focuses on the 3D motion of the model in the flow.
Keywords :
autonomous underwater vehicles; position control; 3D motion; UUV; position control; robotic anchoring system; steady state flow condition; unmanned underwater vehicles; water current; wire tension; Drag; Equations; Force; Mathematical model; Robots; Underwater vehicles; Vehicles; AUV; Control; Current; Positioning; Tether; UUV;
Conference_Titel :
OCEANS, 2012 - Yeosu
Conference_Location :
Yeosu
Print_ISBN :
978-1-4577-2089-5
DOI :
10.1109/OCEANS-Yeosu.2012.6263395
