자율무인잠수정의 도킹시스템 및 제어 연구

Abstract

This thesis presents the study of the docking and control of the autonomous underwater vehicle (AUV). For this, a docking system based on light guidance equipment was developed.

For docking operation of the AUV, the AUV is controlled in two steps of the navigation step and the docking step. The navigation step is to control the AUV along a preplanned path. The docking step is to enter the destination station. For docking process, a docking algorithm was developed using the PSD sensor and navigation system. For this, the PSD sensor is used for computing the relative distance and the direction of the station.

A experiment was performed to verify the developed docking system composed of LED lights and a number of PSD sensors.