Development and Field Test of Unmanned Marine Vehicle (USV/UUV) With cable

This paper presents the system, controller, and field test results of an unmanned marine vehicle (UMV) developed to acquire real-time ocean exploration information. The system consists of an unmanned surface vehicle (USV), an unmanned underwater vehicle (UUV), and an underwater cable. The developed...

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Bibliographic Details
Published in:IEEE access 2020, Vol.8, p.193347-193355
Main Authors: Hong, Sung Min, Nam, Keon Seok, Ryu, Je Doo, Lee, Dong Gu, Ha, Kyoung Nam
Format: Article
Language:English
Subjects:
Actuators
Algorithms
anti-windup controller
Attitude control
Autonomous underwater vehicles
Control algorithms
Control theory
Controllers
Exploration
field test
Field tests
leader-follower method
Marine vehicles
Mathematical model
Oceans
pure-pursuit method
Sensors
Submarine cables
Surface vehicles
Tracking control
Turning
Underwater cables
Unmanned surface vehicle
unmanned underwater vehicle
Unmanned vehicles
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Summary:This paper presents the system, controller, and field test results of an unmanned marine vehicle (UMV) developed to acquire real-time ocean exploration information. The system consists of an unmanned surface vehicle (USV), an unmanned underwater vehicle (UUV), and an underwater cable. The developed platform is a research platform for ocean exploration and was proposed to compensate for the shortcomings of the existing USV, UUV, and towing system. This paper describes the proposed UMV, including the design considerations such as electronics architecture, data management, sensors, and actuators and explains the path control algorithm and controller used to follow the specified path for ocean exploration. In order to confirm the performance of the developed platform and control algorithm, a way-point tracking experiment was performed, and the results are shown.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2020.3032163