로봇 지능 구현을 위한 수중 로봇의 제어 및 센서 시스템 설계

Abstract

An autonomous underwater robot have been considered for doing underwater missions as an alternative of remotely operated vehicle which is able to carry complex missions by operator but, which suffers from long cable, small operating range, and mother ship as drawbacks of ROV. Unfortunately, right now, intelligence of underwater robot is not enough to complete underwater mission like ROV. That's why autonomous underwater robots are working for relatively simple tasks such as underwater sampling, surveying and characterization of resources. For this, Korea Ocean Research & Development Institute (KORDI) just started a five-year project named “Development of technologies for an underwater robot based on artificial intelligent for highly sophisticated missions” from 2010 to study underwater robotic intelligence systematically. As the first year of the project, we are currently developing an underwater robot. This paper briefly explains its control system structure and sensor systems. These systems are designed for AI based underwater environment cognition and tracking, in particular, underwater vision, underwater acoustic signal analysis, obstacle avoidance, and target tracking.