수중청소로봇의 운항 시뮬레이터 연구

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 including position and velocity. Also, a joystick was developed. It was an input and control device for the simulator. Moreover, integrated navigation control system was designed, and its performance was validated by a way-point simulator including the control law.