수중 다중 로봇 분야의 최신 연구 동향

Abstract

As the ocean attracts great attention on environmental issue and resources as well as scientific and military tasks, the need for and use of underwater robotic system has become more apparent. Generally, ROV(Remotely Operated Vehicle) and AUV(Autonomous Underwater Vehicle) are representative of underwater robot. ROVs are currently limited to a few applications because of very high operational cost and operator fatigue. The demand for advanced underwater robot technologies is growing and will eventually lead to fully autonomous and reliable robotic vehicles. Until 1990's, the research of AUV was focused on the development of vehicle with multi functions. But the fundamental problems such as the communication and position measuring could not be solved by the single. Recently, through multi robotic vehicles consisting of AUVs and/or ASC(Autonomous Surface Craft)s, researchers make an effort to seek the solution. To complete the missions as ocean exploration, oceanographic data collection, resource sweeping, multi-robots system with cooperation and supplementation is remarkably suitable. This paper introduces about current state of the art in underwater multi-robots based on the latest papers and projects.