수중 로봇의 항법 지원을 위한 수상 로봇 개발 및 실험

Abstract

This paper presents the development and the results of field experiments of an autonomous surface vehicle (ASV) to support underwater navigation technology of underwater robots operated in marine environments. For achieving this purpose, the ASV is developed on a catamaran type by integrating various systems, including the guidance, navigation and control system, electrical power and propulsion system, bathymetric mapping system, underwater acoustic system, and wireless communication devices. And autonomous navigation capabilities of this vehicle are fundamentally implemented for underwater information acquisition in on-board system. In particular, the information can be used in the map-based underwater navigation. In order to demonstrate the performance and feasibility of the developed ASV, preliminary field tests were carried out in inland water environments, and its results are discussed.