Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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Development of a 3D Localization Algorithm Using Hull Geometry Information

선체 형상 정보를 활용한 3차원 위치인식 알고리즘 개발

  • Mingyu Jang (Mechanical Engineering, Seoul National University of Science and Technology) ;
  • Jinhyun Kim (Mechanical and Automotive Engineering, Seoul National University of Science and Technology)
  • 장민규 (서울과학기술대학교 기계공학과) ;
  • 김진현 (서울과학기술대학교 기계자동차공학과)
  • Received : 2023.08.28
  • Accepted : 2023.09.12
  • Published : 2023.09.30
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Abstract

A hull-cleaning robot sticks to the surface of a vessel and moves for efficient cleaning. Precise path planning and tracking using the current position is crucial. Many robots rely on the INS algorithm, but errors accumulate. To fix this, GPS, sonar, and USBL are used, though with limitations. Selecting suitable sensors for the surface operation and accurate positioning algorithm are vital. In this study, we developed a robot position estimation algorithm using the structure of a ship. Problems that arise when expanding the 2D position estimation algorithm used in existing wall structures to 3D were evaluated and methods for solving them were proposed. In addition, we aimed to improve performance by deriving singularities that exist in the robot path and proposing an error correction algorithm based on the singularities.

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Acknowledgement

이 연구는 과학기술정보통신부의 한국연구재단(NRF) 지원을 받아 수행되었습니다. (2022R1A2C201010112)

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