| 수중청소로봇의 운항 제어용 시뮬레이터 연구 |
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최형식, 강진일, 홍성율, 박한일, 서주노, 김문환, 권경엽 |
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| Study on a Navigated Simulator of the Underwater Cleaning Robot |
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Hyeung-Sik Choi, Jin-il Kang, Sung-Yul Hong, Han-il Park, Joo-no Seo, Moon-Hwan Kim, Kyeong-Yeop Gwan |
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| Abstract |
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In this paper, a 3-D simulator was developed to estimate visually the performance of propelling and integrated control system of the underwater cleaning robot. Based on the dynamics analysis of the UCR, the 3-D model of the UCR was used in the simulator in which position and velocity are included Also, an input and control system using a joystick was developed, and the simulator was applied to the input and control of the simulator. Moreover, an integrated navigation control system was designed, and its performance was validated by a way-point simulator including a PI-based fuzzy control law. |
| Key Words:
PID제어기;
Simulator;Underwater Cleaning Robot;PID Controller |
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