다관절 해저로봇의 고해상도 주사음탐기 적용을 위한 선행연구

Abstract

In this paper, we studied about the operating strategies of an imaging sonar for a multi-legged seabed robot via open sea experiment, of which the robot overcomes the low visibility environment. This experiment was carried out from April 3 to April 6 and April 17 to 19, 2012 at the pier of South Sea Research Institute to get the vertical and horizontal images. The device used in the experiment was 1171 high resolution scanning sonar manufactured by Kongsberg Maritime. Through this experiment, we have generated a sonar image and suggested a criteria for the positioning and sensor arrangement on the robot. Sonar images are also integrated into the picture of Google Earth satellite map by the mosaic processing of Adobe Photoshop CS5® program.to April 6 and April 17 to 19, 2012 at the pier of South Sea Research Institute to get the vertical and horizontal images. The device used in the experiment was 1171 high resolution scanning sonar manufactured by Kongsberg Maritime. Through this experiment, we have generated a sonar image and suggested a criteria for the positioning and sensor arrangement on the robot. Sonar images are also integrated into the picture of Google Earth satellite map by the mosaic processing of Adobe Photoshop CS5® program.