Browse > Article
http://dx.doi.org/10.5574/KSOE.2015.29.3.249

Development of Buoy-based Autonomous Surface Robot-kit  

Kim, Hyun-Sik (Dept. of Robot System Eng., Tongmyong University)
Publication Information
Journal of Ocean Engineering and Technology / v.29, no.3, 2015 , pp. 249-254 More about this Journal
Abstract
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.
Keywords
Surface robot; Buoy robot-kit; Sonar-based avoidance; Dynamic position control; Static attitude control;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
연도 인용수 순위
1 Kim, H.-S., Jin, T., 2009. Intelligent Obstacle Avoidance Algorithm for Autonomous Control of Underwater Flight Vehicle. Journal of Korean Institute of Intelligent Systems 19(5), 635-640.   DOI
2 Kim, H.-S., Jin, T., Sur, J., 2011. Intelligent 3-D Obstacle Avoidance Algorithm for Autonomous Control of Underwater Flight Vehicle. Journal of Korean Institute of Intelligent Systems 21(3), 323-328.   DOI
3 Kim, H.-S., Kang, H.-J., Ham, Y.-J., Park, S.S., 2012. Development of Underwater-type Autonomous Marine Robot-kit. Journal of Korean Institute of Intelligent Systems 22(3), 312-318.   DOI   ScienceOn
4 Kim, H.-S., Kim, I.-H., 2011. Surface-type Autonomous Robot-kit. Korean Patent Application 10-2011-0107945.
5 Kim, H.S., Shin, Y.K., 2007. Expanded Adaptive Fuzzy Sliding Mode Controller using Expert Knowledge and Fuzzy Basis Function Expansion for UFV Depth Control. Ocean Engineering 34, 1080-1088.   DOI
6 Antonelli, G., 2006. Underwater Robots, Springer.
7 Choi, S.K., Yuh, J., Takashige, G.Y., 1995. Design of an Omnidirectional Intelligent Navigator. Underwater Robotic Vehicles: Design and Control, Albuquerque, NM, TSI Press, 277–297.
8 Healey, A.J., Horner, D.P., Kragelund, S.P., 2005. Collaborative Unmanned Vehicles for Maritime Domain Awareness. Proceedings of the 2005 International Workshop on Underwater Robotics, Genoa, Italy.
9 Kim, H.-S., 2012. Study on Local Path Control Method based on Beam Modeling of Obstacle Avoidance Sonar. Journal of Korean Institute of Intelligent Systems 22(2), 218-224.   DOI   ScienceOn
10 Kim, H.-S., 2013. Development of Balloon-based Autonomous Airborne Robot-kit. The Journal of The Korea Institute of Electronic Communication Sciences 8(8), 1213-1218.   DOI
11 Kim, H.-S., 2014. Development of Buoy-based Autonomous Surface Robot-kit. 7th International Conference on Advanced Materials Development & Performance, Korea Maritime and Ocean University, Korea.