Development and Tank Test of an Autonomous Underwater Vehicle 'ISiMI'

J. Ocean Eng. Technol. 2007;21(2):67-74.

Jun, Bong-Huan;Park, Jin-Yeong;Lee, Pan-Mook;Lee, Fill-Youb;Oh, Jun-Ho;

Ocean Engineering Research Department, MOERI, KORDI;Humanoid Robot Research Center, KAIST;Ocean Engineering Research Department, MOERI, KORDI;Ocean Engineering Research Department, MOERI, KORDI;Humanoid Robot Research Center, KAIST;

자율무인잠수정 테스트베드 이심이의 개발과 수조시험

전봉환;박진영;이판묵;이필엽;오준호;

한국해양연구원 해양시스템기술연구본부;한국과학기술원 휴머노이드 로봇 연구센터;한국해양연구원 해양시스템기술연구본부;한국해양연구원 해양시스템기술연구본부;한국과학기술원 휴머노이드 로봇 연구센터;

Keywords: Autonomous underwater vehicle, Auto depth control, Auto heading control, ISiMI, System design, Tank test

핵심용어: 자율무인잠수정, 심도자동제어, 선수각 자동제어, 이심이, 시스템설계, 수조시험

Abstract

Maritime and Ocean Engineering Research Institute (MOERI), a branch of KORDI, has designed and manufactured a model of an autonomous underwater vehicle (AUV) named ISiMI (Integrated Submergible for Intelligent Mission Implementation). ISiMI is an AUV platform to satisfy the various needs of experimental test required for development of challenging technologies newly investigated in the field of underwater robot; control and navigational algorithms and software architectures. The main design goal of ISiMI AUV is downsizing which will reduce substantially the operating cost compared to other vehicles previously developed in KORDI such as VORAM or DUSAUV. As a result of design and manufacturing process, ISiMI is implemented to be 1.2 m in length, 0.17 m in diameter and weigh 20 kg in air. A series of tank test is conducted to verify the basic functions of ISiMI in the Ocean Engineering Basin of MOERI, which includes manual control with R/F link, auto depth, auto heading control and a final approach control for underwater docking. This paper describes the implementation of ISiMI system and the experimental results to verify the function of ISiMI as a test-bed AUV platform.