수중로봇 미들웨어와 그 응용에 대한 초기 연구

Abstract

This paper introduces our on-going project for developing a middleware of an underwater robot. Like a recent developed service robot, an underwater robot needs a middleware as a unified software plaform. In this paper, requirements of robot middleware and summary of several robot middlewares are described. Then additional requirements for an underwater robot middleware are addressed. For minimizing efforts to implement whole middleware and figuring out detail requirements and technical issues, a preliminary study has been carried out with Hanyang University, where a concept of logical sensors and actuators is proposed. UIRE(Underwater Intelligent Robot Engine) is almost ready to apply to an underwater robot (IRiS) developed by MOERI/KORDI.