경작업용 ROV URI-L의 고정밀 매핑을 위한 경로추종 알고리즘에 대한 연구

Abstract

This paper introduces the path tracking algorithm for high precision mapping of light work class ROV URI-L. For underwater bottom topography mapping, planning of sweeping path generation and path tracking are required, and underwater robotshould have a capability to maintain its posture and to track the given path at certain depth. URI-L’s propulsion system consists of vertical thruster for vertical move(heave, roll, pitch) and horizontal thruster for horizontal move(surge, sway, yaw), therefore URI-L is able to conduct both vertical move and horizontal move simultaneously. So, by designing vertical move controller to maintain water depth and posture and pure pursuit controller to track 2D, total path tracking algorithm for high precision mapping has been implemented.