UDR을 위한 하드웨어 설계 연구

Abstract

This paper introduces the new development of an Underwater Disk Robot (UDR) performing robust underwater motion under multi-directional disturbances. This is a new idea to overcome the underwater robot disadvantages which are motions, disturbance effect on the side. The UDR is six-DOF model composed of a frame structure include control system, sensor system ,four vertical actuators for heaving, rolling, pitching, rotating motion and three low-cost thrusters were developed for robust surging, swaying motion. Three thrusters are disposed symmetrically by 120 degrees to navigate along any directions by robust vector propulsion control scheme. The UDR is designed as a disk shaped vehicle to be less affected by external disturbances such as currents and waves. A control system including PID motion controller and sensor systems using depth sensor and low-cost AHRS sensor are developed.