P041

Development of a Test bed AUV at Seoul National University

A0100 Kihun Kim Department of Naval Architecture and Ocean Engineering, Seoul National University

A0101 Hang S. Choi Department of Naval Architecture and Ocean Engineering, Seoul National University

A0102 WooJae 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.