트랙형 수중 로봇의 가상물리시스템을 위한 멀티빔 소나 지도 생성 시뮬레이션

Abstract

Remotely operated vehicles (ROVs) are operated by human operators, and it is significant to provide the operators with information about the underwater situation in real-time. Optical sensing is limited in underwater environments while sonars can provide images or profiles of the underwater environment even with severe turbidity. In this study, we propose a real-time underwater multibeam sonar mapping system, which is one of the key components of the cyber-physical system (CPS) for the operation of underwater tracked vehicles designed for the mining of deep-sea minerals. We constructed a virtual underwater mining environment with real deep-sea terrain data and performed validation of the proposed sonar mappingsystem through simulation.