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Head alignment of a single-beam scanning sonar installed on a multi-legged underwater robot

Authors
Park, J.-Y.Lee, G.-M.Shim, H.Baek, H.Lee, P.-M.Jun, B.-H.Kim, J.-Y.
Issue Date
2012
Citation
OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean
Journal Title
OCEANS 2012 MTS/IEEE: Harnessing the Power of the Ocean
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8806
DOI
10.1109/OCEANS.2012.6405137
ISSN
0000-0000
Abstract
In this paper, head alignment of a single-beam scanning sonar installed on a multi-legged underwater robot is described. The multi-legged underwater robot is supposed to survey seafloor, underwater structures, etc. Typical optic cameras, however, are not appropriate to show high quality scenes in a turbid water. Therefore, to collect images in a low visible underwater environment, the single-beam scanning sonar is proper and installed on the back of the robot. To collect sonar images without distortion caused by geological conditions of the sea floor, the robot needs to sense the attitude of the sonar and control it. This paper introduces a kinematic model of the multi-legged robot and its proper pose for head alignment of the sonar. ? 2012 IEEE.
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친환경해양개발연구본부 > 친환경연료추진연구센터 > Journal Articles

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