DocumentCode
2913472
Title
Development of a robotic anchoring system for underwater vehicle under water current
Author
Pyo, Juhyun ; Yu, Son-Cheol ; Park, Jong-Chun ; Park, Sung-Chul
Author_Institution
POSTECH Ocean Sci. & Technol. Inst., Pohang, South Korea
fYear
2012
fDate
21-24 May 2012
Firstpage
1
Lastpage
5
Abstract
This paper presents a positioning method for UUV using an anchor. The anchor system can be significantly effective means of the position control for the vehicle under strong ocean current. Adjusting the wire tension using the vehicle attached winch allows the position control of the vehicle. The modeling of the proposed system and the positioning performance under the steady state flow condition is discussed. This study focuses on the 3D motion of the model in the flow.
Keywords
autonomous underwater vehicles; position control; 3D motion; UUV; position control; robotic anchoring system; steady state flow condition; unmanned underwater vehicles; water current; wire tension; Drag; Equations; Force; Mathematical model; Robots; Underwater vehicles; Vehicles; AUV; Control; Current; Positioning; Tether; UUV;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS, 2012 - Yeosu
Conference_Location
Yeosu
Print_ISBN
978-1-4577-2089-5
Type
conf
DOI
10.1109/OCEANS-Yeosu.2012.6263395
Filename
6263395
Link To Document