2대의 집광기를 이용한 심해저 망간단괴 광구의 최적 Sweeping 기법 연구

Abstract

In this paper, we are concerned about the optimal sweeping method of two miners for the deep-sea manganese nodule mining area. The mining area is extremely soft cohesive deep-seabed. So some constraints exist in path definition. Sweeping means a motion that a robot or vehicle covers a 2-dimensional area by its effecter. The effecter of miner is manganese nodule gathering device. But miner track is also regarded as sweeping area because of constraints in path definition. The optimal sweeping path estimated by diameter fucntion. And we propose the two miner formaiton in order to improve efficiency of gathering manganese nodule. This basic research would apply for path generating in near-shore sea-test and in real mining area.