수중로봇 연구를 위한 실험용 원격제어시스템

Abstract

In this paper, we propose a tele-operated underwater robot. While conventional AUVs are normally equipped with both physical controlling parts and computing boards as a full system of the robot, the proposed tele-operated system is capable of transmitting multiple sensor data to the arbitrator computer which is located in the ground station, and receive back optimized decisions through radio frequency (RF) signals. As a result, one can develop and test many robotic algorithms in much convenient and efficient environment. In order to show the feasibility of this system, we briefly discuss a computer vision process for the autonomous underwater docking problem.ble of transmitting multiple sensor data to the arbitrator computer which is located in the ground station, and receive back optimized decisions through radio frequency (RF) signals. As a result, one can develop and test many robotic algorithms in much convenient and efficient environment. In order to show the feasibility of this system, we briefly discuss a computer vision process for the autonomous underwater docking problem.