민군겸용 반자율무인잠수정(SAUV)의 설계 및 활용

Abstract

This paper introduces the design and implementation of a semi-autonomous underwater vehicle (SAUV) with a hybrid navigation system and an electrical manipulator. The vehicle is designed as a test-bed for the evaluation of the navigation and manipulator technologies developed for a mine disposal vehicle(MDV) in military use and for a light working underwater vehicle in non-military use. The dimension of the SAUV is 3.188m in length, 500kg in air-weight. The maximum speed is 7 knots and operating depth is 400m. The vehicle powered by on-board batteries communicates with surface unit via an optical link. The hybrid navigation system consisting of IMU, DVL, and SSBL was designed to obtain precise positioning. A 4-function underwater manipulator with force reflection capability is introduced to carry out light work. This paper also describes the control system and operating software, which is developed on the basis of a real-time operating system (RTOS) QNX.