Development of a Test bed AUV at Seoul National University
A0100Kihun Kim Department of Naval Architecture and Ocean Engineering, Seoul National University
A0101Hang S. Choi Department of Naval Architecture and Ocean Engineering, Seoul National University
A0102WooJae Seong Department of Naval Architecture and Ocean Engineering, Seoul National University
This paper describes the design and performance of a test bed AUV
constructed at Seoul National University. The main purpose of the AUV
is to carry out fundamental tests on its stability and controllability.
Its configuration is basically a long cylinder of 0.25m in diameter
and 1.35m in length with delta-type wings near its rear end. On each
edge of the wings, a thruster of 1/4HP is mounted, which is used for
both drive and turn as the output power is controlled. The necessary
power is supplied by 6ea of 100 watt-hour lithium ion batteries, which
can be sustained to operate at a maximum speed of 2m/s for one
hour.The AUV is equipped with a pressure sensor for measuring water
depth, an inclinometer for measuring pitch, a magnetic compass for
measuring heading and a leakage sensor for emergency call. It
contains an inertial motion unit (IMU) implemented as a Kalman filter
to estimate its position. A pair of control surfaces installed near
its front part generates pitching moments for vertical movement.
Themotion of the vehicle is controlled by an onboard Pentium III-class
computer, which runs with the help of the Windows operating system.
RS232, parallel port, and Ethernet link are used for communications.
Preliminary tests results are compared with simulated ones.