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자율 무인 잠수정(AUV)의 모의 실험을 위한 테스트베드의 개발-하드웨어와 소프트웨어
이판묵(P.M. Lee),전봉환(B.H. Jeon),정성욱(S.W. Jeong) 한국해양공학회 1997 韓國海洋工學會誌 Vol.11 No.1
This paper describes the development of a test-bed vehicle named TAUV which can be a tool to evaluate the performance of a new control algorithm, operating softwares and the characteristics of sensors for an AUV. The test-bed AUV is designed to operate at depth of ten meters. It is 19.5㎏ in air and neutral buoyancy in water and the dimension is 535×400×102㎜. TAUV is equipped with a magnetic compass, a biaxial inclinometer, a rate gyro, a pressure sensor and an altitude sonar for measuring the motion of the vehicle. Two horizontal thrusters and two elevators are installed in order to propel and control the AUV. This paper presents the control system of TAUV which is based on a 16 bit single-chip microprocessor, 80c196kc, and the software architecture for the operating system. Experimental results are included to verify the performance of the TAUV.