Journal of Positioning, Navigation, and Timing (J Position Navig Timing; JPNT)
Citation: Ko, N. Y., Moon, J., 2023, A Modelling and Control Method for a Hybrid ROV/AUV for Underwater Exploration, Journal of Positioning, Navigation, and Timing, 12, 67-73.
Journal of Positioning, Navigation, and Timing (J Position Navig Timing) 2023 March, Volume 12, Issue 1, pages 67-73. https://doi.org/10.11003/JPNT.2023.12.1.67
Received on 16 February 2023, Revised on 08 March 2023, Accepted on 10 March 2023, Published on 30 March 2023.
License: Creative Commons Attribution Non-Commercial License (https://creativecommons.org/licenses/bync/4.0/) which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.
Nak Yong Ko, Jiyoun Moon†
Department of Electronics Engineering, Chosun University, Gwangju 61452, Korea
†Corresponding Author: E-mail, jymoon@chosun.ac.kr; Tel: +82-62-230-7068 Fax: +82-62-608-5203
As interest in underwater structures and ocean exploration increases, many researchers are proposing methods for modeling and controlling various remotely operated vehicles (ROVs). Recently, hybrid systems composed of an autonomous underwater vehicle and an ROV capable of remote control and autonomous navigation are being developed. In this study we introduce a method that models Ariari-aROV, an ROV consisting of five thrusters, and performs navigation. The proposed ROV can be controlled manually and by autonomous navigation when given a target point. An extended Kalman filter is utilized for sensor measurement correction for more precise navigation. The proposed method is verified through a simulation.
underwater robot, remotely operated vehicle, Ariari-aROV, control, navigation, extended Kalman filter, underwater exploration
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Methodology, validation, review, editing, N. Y. Ko, software, implementation of the algorithm, investigation, J. Moon.
The authors declare no conflict of interest.