중계 임무 수행이 가능한 무인수상선(USV) 연구

Abstract

Nowadays, USV (Unmanned Surface Vehicle) is gaining a lots of attention on marine research and surveying exploration in costal area. This paper presents an experimental study on USV performing a repeater for mission with AUV (Autonomous Underwater Vehicle) and ROV (Remotely Operated Vehicle). To operate USV and AUV safely, an accurate localization and navigation system are essential. This paper describes an implementation of an autonomous navigation system for a USV performing a repeater. To improve the performance of the propulsion and control USV was selected for the appropriate propulsion module, was equipped precise sensor system. Using a independent battery to avoid the influence of noise generated by the propulsion module and the driver. By applying a VHF communication module and tested at a distance of about 5km. And the performance was confirmed. This USV was applied multi-GPS algorithms to overcome the limitations of GPS errors. And it can control waypoint tracking and position fixing control algorithms using GPS-INS integration, which is designed with three fixed thrusters to flexibly orient and to maintain at a desired position. Moreover, a repeater mission for limits of AUV is developed and is presented and verified through a number of simulation and experiments.