다중 해저주행로봇의 제어를 위한 육상시험기반 구축에 관한 연구

Abstract

To reduce cost, time and loss risk of robot in the sea-trial, the developed algorithm should be tested and verified through a lab test bed in advance. This paper introduces a lab test bed to develop control algorithms for multi-tracked-robots driving on seabed. First, state-of-the-art on multi underwater vehicles is illustrated focused on research papers. Then, the researches and applications of single underwater tracked-robot, and the appearance of multi tracked-robots are briefly introduced. Finally, the lab test bed composed of the ultrasonic position system, ground multi-tracked-robots and camera based motion measuring system is explained. The ultrasonic position system is considered as USBL system to measure the position of robot in ocean. In the ground tracked-robot, tracked driving system, laser scanning sensor, camera, magnetic gyro, and embedded controller are installed. The camera based motion measuring system as a reference measuring system is applied to evaluate the performance of developed algorithms.robots driving on seabed. First, state-of-the-art on multi underwater vehicles is illustrated focused on research papers. Then, the researches and applications of single underwater tracked-robot, and the appearance of multi tracked-robots are briefly introduced. Finally, the lab test bed composed of the ultrasonic position system, ground multi-tracked-robots and camera based motion measuring system is explained. The ultrasonic position system is considered as USBL system to measure the position of robot in ocean. In the ground tracked-robot, tracked driving system, laser scanning sensor, camera, magnetic gyro, and embedded controller are installed. The camera based motion measuring system as a reference measuring system is applied to evaluate the performance of developed algorithms.