다관절해저로봇의 자유도를 이용한 스캐닝소나의 활용

Abstract

We had conducted the performance test of CR200 at Mado, West Sea of Korea where the excavation of the sunken historical objects is in progress last from 16th April to 15th May. To do this we arranged arbitrary targets around the place, searched and collected them. This paper deals with method of acquiring high quality image from scanning sonar operated with CR200 making full use of degree of freedom and application to navigation with the images in high current and shallow water. CR200 performed successfully the mission to search, identify and collect the imitation relic samples with scanning sonar operation method to figure out to navigation position and to minimize the noise of the conventional sonar image applied to CR200 throughout the experiment.ched and collected them. This paper deals with method of acquiring high quality image from scanning sonar operated with CR200 making full use of degree of freedom and application to navigation with the images in high current and shallow water. CR200 performed successfully the mission to search, identify and collect the imitation relic samples with scanning sonar operation method to figure out to navigation position and to minimize the noise of the conventional sonar image applied to CR200 throughout the experiment.