심해저 망간단괴 집광 로봇의 선점영역 경로 계획법에 관한 연구

Abstract

Development of a mining robot represents the keytechnology for commercial mining of manganese nodules from 5,000m deep seafloor. In this paper, we are concerned with the discussion on method of sweeping coverage path planning for the mining robot. The mining robot sweeps a two dimensional area, i.e. sea-floor, by using its collecting device. Its path should be planned for the maximum efficiency of sweeping coverage. This is known as problem of ‘area sweeping’, ‘terrain coverage’, or ‘complete coverage’, in which mobile robot/vehicle should pass over each point predetermined and avoid obstacles in a certain region. We discuss the method of sweeping coverage path planning using simulation for performance test and evaluation in aim of planning and verification of optimal mining path.