지능 수중 로봇 yShark 개발

Abstract

This paper summarized 1st year results of a project, “Development of technologies for an underwater robot based on artificial intelligence for highly sophisticated missions”, including background and motivation of the project. General structure of underwater robot, yShark with additional new sensors and system software architecture for testing are described. Also, results of underwater vision system considering artificial landmarks, image features, turbidity are explained with comparison. Results of feasibility study for underwater acoustic signal detection are shown, then next plan and goals are given.