Development and Field Test of Unmanned Marine Vehicle (USV/UUV) with cable

Abstract

This paper presents the system, controller, and field test results of an unmanned marine vehicle (UMV) developed to acquire real-time ocean exploration information. The system consists of an unmanned surface vehicle (USV), an unmanned underwater vehicle (UUV), and an underwater cable. The developed platform is a research platform for ocean exploration and was proposed to compensate for the shortcomings of the existing USV, UUV, and towing system. This paper describes the proposed UMV, including the design considerations such as electronics architecture, data management, sensors, and actuators and explains the path control algorithm and controller used to follow the specified path for ocean exploration. In order to confirm the performance of the developed platform and control algorithm, a way-point tracking experiment was performed, and the results are shown.