Design and control of a convertible ROV

Author

Hyeung-Sik Choi ; Hanil Park ; Sanki Chung ; Jeongmin Seo

Author_Institution

Div. of Mech. & Energy Syst. Eng., Korea Maritime Univ., Busan, South Korea

fYear

2012

fDate

21-24 May 2012

Firstpage

1

Lastpage

7

Abstract

In this paper, a study of a new convertible, six degree of freedom(DOF) underwater robot, which can be a Remotely Operated Vehicle (ROV) or an Autonomous Underwater Vehicle (AUV) depending on the purpose of the underwater task, is presented. The design and development of the architecture of the developed control system for the ROV and the AUV are presented. The thrusting system of an AUV is analyzed. For navigation, a sensor fusion board, which can process various sensor signals to estimate and identify the correct states of the vehicle, is developed, and a total control system including the Extended Kalman Filter (EKF) is designed. For the ROV, a depth control test in the sea is performed and its results are presented and discussed.

Keywords

autonomous underwater vehicles; sensors; AUV; EKF; ROV; autonomous underwater vehicle; convertible ROV; degree of freedom; depth control test; extended Kalman filter; remotely operated vehicle; sensor; underwater robot; Batteries; Control systems; Manipulators; Navigation; Sensor fusion; Torque; Vehicles; AUV; Control system); Convertible Rov; Sensor system;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS, 2012 - Yeosu

Conference_Location

Yeosu

Print_ISBN

978-1-4577-2089-5

Type

conf

DOI

10.1109/OCEANS-Yeosu.2012.6263424

Filename

6263424