지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.5
- 수록면
- 1,586 - 1,589 (4page)
이용수
초록· 키워드
오류제보하기
To reduce cost, time and loss risk of robot in the sea-tried, the developed algorithm should be tested and verified through a lab test bed in advance. This paper introduces a lab test bed to develop control algorithms for multi-tracked-robots driving on seabed First, state-of-the-art on multi underwater vehicles is illustrated focused on research papers. Then, the researches and applications of single underwater tracked-robot, and the appearance of multi tracked-robots are briefly introduced. Finally, the lab test bed composed of the ultrasonic position system, ground multi-tracked-robots and camera based motion measuring system is explained. The ultrasonic position system is considered as USBL system to measure the position of robot in ocean. In the ground tracked-robot, tracked driving system, laser scanning sensor, camera, magnetic gyro, and embedded controller are installed. The camera based motion measuring system as a reference measuring system is applied to evaluate the performance of developed algorithms.
목차
ABSTRACT
1. 서론
2. 다중 수중로봇 연구사례
3. 해저주행로봇의 사례 연구
4. 다중해저주행로봇의 육상시험기반
5. 결론
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UCI(KEPA) : I410-ECN-0101-2013-472-003622798