작업 환경 및 상황 전달을 위한 수중로봇 환경 인지/제어 프레임워크 기초연구

Abstract

Operating an ROV requires advanced operational skills. Most operators operate the robot using only the camera and navigation information on the ROV. However, the visibility of the seabed is often poor due to high turbidity, and when the ROV’s thruster is driven, it is often impossible to see due to suspended sediment. The authors have proposed a Cyber Physical Operation System (CPOS) to solve these problems. This technology analyzes the real-time robot model based on the kinematic and dynamics model of the robot, and implements the robot and surrounding environment information obtained from the sensors attached to the robot in a digital environment to ensure robust performance in the face of task and environment changes. In addition, in order to effectively synchronize the working environment and status of the robot to the operator, the authors design a human-in-the-loop system (HILS) environment between robots and human so that the operator can control the robot while feeling as if they are controlling it in the robot cockpit. The authors constructed a HILS environment for an underwater working rover which is one of remote-controlled underwater robots. In this paper, authors present the on-going progress of HILS for underwater robot, and future works.