다관절 해저로봇의 불량 시계환경 극복을 위한 고해상도 주사음탐기의 운용전략과 실험적 고찰

Abstract

In this paper, we studied about ultrasonic sensor operating strategies of multi-legged seabed robot based on result of the open sea experiment that the robot to overcome the low visibility environment. This experiment was carried out on April 3 to April 6, 2012 at Pier of Namhae Institute to get vertical and horizontal images and used device was 1171 High Resolution sensor manufactured by Kongsberg Maritime. The criteria of positioning and sensor arrangement of the robot was suggested by this experiment and acquired image data was represented as an integrated picture with Google Earth satellite map through the mosaic processing from Adobe Photoshop program. April 3 to April 6, 2012 at Pier of Namhae Institute to get vertical and horizontal images and used device was 1171 High Resolution sensor manufactured by Kongsberg Maritime. The criteria of positioning and sensor arrangement of the robot was suggested by this experiment and acquired image data was represented as an integrated picture with Google Earth satellite map through the mosaic processing from Adobe Photoshop program.