로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제12권2호
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  • Pages.173-183
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  • 2017
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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수중 측위 시스템과 SVR을 이용한 음영지역에서의 경로 추정 기법

Path Estimation Method in Shadow Area Using Underwater Positioning System and SVR

  • 투고 : 2016.12.27
  • 심사 : 2017.04.14
  • 발행 : 2017.05.31
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초록

This paper proposes an integrated positioning system to localize a moving object in the shadow-area that exists in the water tank. The new water tank for underwater robots is constructed to evaluate the navigation performance of underwater vehicles. Several sensors are integrated in the water tank to provide the position information of the underwater vehicles. However there are some areas where the vehicle localization becomes very poor since the very limited sensors such as sonar and depth sensors are effective in underwater environment. Also there are many disturbances at sonar data. To reduce these disturbances, an extended Kalman filter has been adopted in this research. To localize the underwater vehicles under the hostile situations, a SVR (Support Vector Regression) has been systematically applied for estimating the position stochastically. To demonstrate the performance of the proposed algorithm (an extended Kalman filter + SVR analysis), a new UI (User Interface) has been developed.

키워드

참고문헌

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피인용 문헌

  1. Development of a Low-cost Unmanned Underwater Vehicle and Performance Verification vol.13, pp.2, 2018, https://doi.org/10.7746/jkros.2018.13.2.103
  2. A machine learning-based model to estimate the density of nanofluids of nitrides in ethylene glycol vol.127, pp.20, 2017, https://doi.org/10.1063/5.0002753