Study on path tracking approach for underwater mining robot
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Yeu, T.-K. | - |
dc.contributor.author | Yoon, S.-M. | - |
dc.contributor.author | Park, S.-J. | - |
dc.contributor.author | Sup-Hong, | - |
dc.contributor.author | Kim, H.-W. | - |
dc.contributor.author | Lee, C.-H. | - |
dc.contributor.author | Choi, J.-S. | - |
dc.contributor.author | Sung, K.-Y. | - |
dc.date.accessioned | 2023-12-22T09:01:01Z | - |
dc.date.available | 2023-12-22T09:01:01Z | - |
dc.date.issued | 2012 | - |
dc.identifier.issn | 0000-0000 | - |
dc.identifier.uri | https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8827 | - |
dc.description.abstract | In South Korea, a self-propelled mining robot, named MineRo, was developed in 2007. In 2010, the shallow water test in around 100m depth has been executed for the purpose of evaluation of driving performance. This paper introduces the path tracking approach based on the track velocity control and underwater navigation. The path tracking algorithm is to revise the general follow-the-carrot method in which the target orientation is chosen the orientation along with the path or the orientation for look-ahead point according to the distance between path and current position of robot. Also for the sharp corner on the path, this approach considers the smooth steering way, because the robot drives on the soft sea-bed. Finally, to verify the effect of the proposed approach, the path tracking tests are executed for the two paths, the straight-line type path and lane-change type path. ? 2012 IEEE. | - |
dc.language | 영어 | - |
dc.language.iso | ENG | - |
dc.title | Study on path tracking approach for underwater mining robot | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/OCEANS-Yeosu.2012.6263579 | - |
dc.identifier.scopusid | 2-s2.0-84866693973 | - |
dc.identifier.bibliographicCitation | Program Book - OCEANS 2012 MTS/IEEE Yeosu: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities | - |
dc.citation.title | Program Book - OCEANS 2012 MTS/IEEE Yeosu: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities | - |
dc.type.docType | Conference Paper | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordPlus | Driving performance | - |
dc.subject.keywordPlus | Follow-the-Carrot | - |
dc.subject.keywordPlus | Look-ahead | - |
dc.subject.keywordPlus | Mining robot | - |
dc.subject.keywordPlus | Path tracking | - |
dc.subject.keywordPlus | Robot drives | - |
dc.subject.keywordPlus | Shallow waters | - |
dc.subject.keywordPlus | Shallow-water | - |
dc.subject.keywordPlus | Sharp corners | - |
dc.subject.keywordPlus | South Korea | - |
dc.subject.keywordPlus | Target orientation | - |
dc.subject.keywordPlus | Underwater navigation | - |
dc.subject.keywordPlus | Automobile drivers | - |
dc.subject.keywordPlus | Extended Kalman filters | - |
dc.subject.keywordPlus | Navigation | - |
dc.subject.keywordPlus | Oceanography | - |
dc.subject.keywordPlus | Robots | - |
dc.subject.keywordPlus | Velocity control | - |
dc.subject.keywordPlus | Target tracking | - |
dc.subject.keywordAuthor | Crawler type mining robot | - |
dc.subject.keywordAuthor | Extended Kalman filter | - |
dc.subject.keywordAuthor | Follow-the-Carrot | - |
dc.subject.keywordAuthor | Shallow-water test | - |
dc.subject.keywordAuthor | Track velocity control | - |
dc.subject.keywordAuthor | Underwater Navigation | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
(34103) 대전광역시 유성구 유성대로1312번길 32042-866-3114
COPYRIGHT 2021 BY KOREA RESEARCH INSTITUTE OF SHIPS & OCEAN ENGINEERING. ALL RIGHTS RESERVED.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.