Development of the AUV 'ISiMI' and a free running test in an Ocean Engineering Basin

Ocean Engineering

Volumn 36, Issue 1, 2009, Pages 2-14

  Jun, Bong Huan ^a   Park, Jin Yeong ^b   Lee, Fill Youb ^a   Lee, Pan Mook ^a   Lee, Chong Moo ^a   Kim, Kihun ^a   Lim, Young Kon ^a   Oh, Jun Ho ^b  

^a Korea Institute of Ocean Science and Technology (KIOST)   (South Korea)

^b Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

Author keywords

Autonomous underwater vehicle (AUV); Diving and steering control; Free running test; Ocean Engineering Basin (OEB); Turning test; Zigzag test

Indexed keywords

AUTOMOBILE PARTS AND EQUIPMENT; AUTOMOBILE STEERING EQUIPMENT; AUTONOMOUS UNDERWATER VEHICLES; EXPERIMENTS; OCEAN ENGINEERING; OCEANOGRAPHY; STEERING; SUBMERSIBLE MOTORS; SUBMERSIBLES; TESTING; TURNING; UNDERWATER BALLISTICS; UNDERWATER CONSTRUCTION; UNDERWATER EQUIPMENT; UNDERWATER STRUCTURES; WATER CRAFT;

AUV TECHNOLOGIES; DESIGN CONCEPTS; DIVING AND STEERING CONTROL; EXPERIMENTAL TESTS; FREE RUNNING TEST; NEW TECHNOLOGIES; PERFORMANCE EVALUATIONS; POSITIONING SYSTEMS; RESEARCH WORKS; TEST RESULTS; TURNING TEST; ZIGZAG TEST;

ENGINEERING RESEARCH;

ALGORITHM; AUTONOMOUS UNDERWATER VEHICLE; DIVING; POSITIONING SYSTEM; SIMULATION;

EID: 58249125133     PISSN: 00298018     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.oceaneng.2008.07.009     Document Type: Article

References (18)

1. Allen, B., Stokey, R., Austin, T., Forrester, N., Goldsborough, R., Purcell, M., von Alt, C., 1997. REMUS: a small, low cost AUV; system description, field trials and performance results. Proceedings of the Oceans Conference, 994-1000.
2. Bellingham, J.G., Bales, J.W., Goudey, C.A., Consi, T.R., 1993. Performance characteristics of the Odyssey AUV. In: Proceedings of the Eighth International Symposium on Unmanned Untethered Submersible Technology (AUV '93), pp. 37-59.
3. Edwards, D.B., Bean, T.A., Odell, D.L., Anderson, M.J., 2004. A leader-follower algorithm for multiple AUV formations. In: Proceedings of IEEE/OES, pp. 40-46.
4. Feldman, J., 1979. DTNSRDC revised standard submarine equations of motion. DTNSRDC/SPD-0393-09.
5. Fiorelli, E., Leonard, N.E., Bhatta, P., Paley, D., Bachmayer, R., Fratantoni, D.M., 2004. Multi-AUV control and adaptive sampling in Moterey Bay. Workshop on Multiple AUV Operations (AUV04), pp. 134-147.
6. Fossen T.I. Guidance and Control of Ocean Vehicles (1994), Wiley, New York
7. Gertler, M., Hagen, G.R., 1967. Standard equations of motion for submarine simulations. NSRDC Report No. 2510.
8. Healey A.J., and Lienard D. Multivariable sliding-mode control for autonomous diving and steering of unmanned underwater vehicles. IEEE Journal of Oceanic Engineering 18 3 (1993) 327-339
9. Jeon, B.H., Lee, P.M., Li, J.H., Hong, S.W., Kim, Y.G., Lee, J., 2003. Multivariable optimal control of an autonomous underwater vehicle for steering and diving control in variable speed. In: Proceedings of Oceans Conference, San Diego, pp. 2659-2664.
10. Lee P.M., and Jun B.H. Pseudo long base line navigation algorithm for underwater vehicles with inertial sensors and two acoustic range measurements. Ocean Engineering 34 3-4 (2007) 416-425
11. Lee P.M., Hong S.W., Lim Y.K., Lee C.M., Jeon B.H., and Park J.W. Discrete-time quasi-sliding mode control of an autonomous underwater vehicle. IEEE Journal of Oceanic Engineering 24 3 (1999) 388-395
12. Lee P.M., Jun B.H., Kim K.H., Lee J.H., Aoki T., and Hyakudome T. Simulation of an inertial acoustic navigation system with range aiding for an autonomous underwater vehicle. IEEE Journal of Oceanic Engineering 32 2 (2007) 329-345
13. Myring D.F. A theoretical study of body drag in subcritical axisymmetric flow. Aeronautical Quarterly 27 (1976) 186-194
14. Nerstein, W., Smith, K.C., 1968. Hydrodynamic coefficient equations and computer programs. The Bendix Corporation Report.
15. Prestero, T., 2001. Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle. M.S. Dissertation, MIT and WHOI.
16. Singh H., Bellingham J.G., Hover F., Lerner S., Moran B.A., Heydt K., and Yoerger D. Docking for an autonomous ocean sampling network. IEEE Journal of Oceanic Engineering 26 4 (2001) 498-514
17. Stokey R., Allen B., Austin T., Goldsborough R., Forrester N., Purcell M., and Alt C.V. Enabling technologies for REMUS docking: an integral component of an autonomous ocean-sampling network. IEEE Journal of Oceanic Engineering 26 4 (2001) 487-497
18. Utkin V.I. Variable structure system with sliding modes. IEEE Transactions on Automatic Control 22 2 (1977) 212-222. 〈http://www.gavia.is/downloads/brochures/GaviaBrochure0402. pdf〉