자율 탐색을 위한 새로운 수중 로봇의 설계와 구현

Abstract

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 background & motivation of the project, and then describes its design concept and hardware systems designed for AI based underwater environment cognition and tracking, in particular, underwater vision, underwater acoustic signal analysis, obstacle avoidance, and target tracking.