한국해양공학회지 (Journal of Ocean Engineering and Technology)

  • 제29권3호
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  • Pages.249-254
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  • 2015
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  • 1225-0767(pISSN)
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  • 2287-6715(eISSN)
한국해양공학회 (Korean Society of Ocean Engineers)
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부이기반 자율형 수상로봇키트 개발

Development of Buoy-based Autonomous Surface Robot-kit

  • 김현식 (동명대학교 로봇시스템공학과)
  • 투고 : 2015.03.26
  • 심사 : 2015.06.22
  • 발행 : 2015.06.30
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초록

Buoys are widely used in marine areas because they can mark positions and simultaneously acquire and exchange underwater, surface, and airborne information. Recently, the need for controlling and optimizing a buoy's position and attitude has been raised to achieve successful communication in a heterogeneous collaborative network composed of an underwater robot, a surface robot, and an airborne robot. A buoy in the form of a marine robot would be ideal to address this issue, as it can serve as a moving node of the communication network. Therefore, a buoy-based autonomous surface robot-kit with the abilities of sonar-based avoidance, dynamic position control, and static attitude control was developed and is discussed in this paper. The test and evaluation results of this kit show the possibility of real-world applications and the need for additional studies.

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참고문헌

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피인용 문헌

  1. Collaborative Control Method of Underwater, Surface and Aerial Robots Based on Sensor Network vol.65, pp.1, 2016, https://doi.org/10.5370/KIEE.2016.65.1.135