Development and Application of an AUV Maneuvering and Control System Simulator

摘要

AUVs (Autonomous Underwater Vehicles), which are maneuveredaccording to designated operation scenarios using non-tethered systems,feature wide-ranging observation capability due to the lack ofconnections for power and/or signal cables. However, maneuveringscenarios and control software must be carefully formulated andchecked so as to avoid unexpected AUV motion. Accordingly, amaneuvering and control system simulator has been assembled usingnearly the same control boards, LAN, scenarios and control programs asfor an actual AUV system. Scenarios and failure procedures such asemergency surfacing and obstacle avoidance, as well as standardcruising modes including straight constant speed running, coursekeeping, turning, diving, position keeping, crabbing, short turning,stopping and passing designated points can be verified through repeatedcomputer runs of this AUV simulator.