수중로봇 지능구현을 위한 신뢰성 있는 S/W 플랫폼 구조 설계

Abstract

Recently, there has been many research on middleware platform of intelligent robots, but, the result is inefficient to apply directly to underwater robots, since the characteristic of underwater environment and required intelligence for mission execution differs from that of ground robots. Thus, the paper investigates key requirements of S/W platform for underwater robots and proposes a new architecture. The proposed S/W platform adopts a distributed parallel computing architecture to support a reliable, self-contained, and low-power H/W configurations and focuses on the framework for developing robotic intelligence to achieve underwater robot missions while exploiting the earlier research results on robot S/W platforms.