PMD 카메라를 이용한 트랙로봇의 장애물 인식에 관한 연구

Abstract

This paper considers about the obstacle recognition method using PDM camera in the tracked robot. Researches about mining robot for deep-seabed manganese nodule or underwater construction robot for bridge or pier near inshore have been conducted by KIOST. These robots have tracked driving system to secure traction force and stability. When the tracked robot is moving on the seabed, generally much plum is generated. The robot with optical camera is very difficult to discriminate obstacles on the sea-bed. To solve this problem, underwater sonar devices such as scanning sonar or multi-beam sonar have been wildly used. In this paper, the obstacle recognition method is considered using PMD camera which has same principal with the underwater sonar device.ucted by KIOST. These robots have tracked driving system to secure traction force and stability. When the tracked robot is moving on the seabed, generally much plum is generated. The robot with optical camera is very difficult to discriminate obstacles on the sea-bed. To solve this problem, underwater sonar devices such as scanning sonar or multi-beam sonar have been wildly used. In this paper, the obstacle recognition method is considered using PMD camera which has same principal with the underwater sonar device.