Weight balance actuator를 이용한 KAUV 항법 및 전장 시스템 개발

Abstract

This paper presents an architecture of a newly developed autonomous underwater vehicle (AUV) platform, named KAUV, which is designed as a torpedo with very light weight and small size, suitable for use in marine exploration and monitoring.

The KAUV is equipped with a mass shifter mechanism inside to make changes of the vehicle center of gravity from which the pitch angle and depth of the vehicle could be controlled. The paper will propose a new depth control strategy for the KAUV. The feasibility of the proposed control strategy is validated through test of performance of the vehicle.