By Topic

A real-time control architecture for a semi-autonomous underwater vehicle

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Ji-Hong Li ; Korea Res. Inst. of ships & Ocean Eng., Daejeon ; Bong-Huan Jun ; Pan-Mook Lee ; Seok-Won Hong

This paper describes a real-time control architecture for DUSAUV (dual use semiautonomous underwater vehicle), which has been developed at Korea Research Institute of Ships & Ocean Engineering (KRISO) for being a test-bed to develop underwater navigation and manipulator technologies. DUSAUV has three built-in computers, seven thrusters for 6 DOF motion control, one 4-function electric manipulator, one ballasting motor, embedded power source, and other complementary sensors. A supervisor control system with a GUI and a multipurpose joystick is mounted on a surface vessel and communicates with the underwater vehicle through a fiber optic link. Further-more, QNX, one of real-time operating system, is ported on the built-in control and navigation computers for real-time control purpose, while Microsoft OS product is ported in the supervisor computer for GUI programming convenience. A hierarchical control architecture, which consists of application layer, real-time layer and physical layer, has been developed for efficient control system of the complex underwater robotic system. This paper also presents the experimental results with implementation of the layered control architecture for various motion control of DUSAUV in a basin of KRISO is also presented

Published in:


Date of Conference:

9-12 Nov. 2004