UUV의 수중 도킹을 위한 전자기파 신호 기반의 위치인식 센서 개발
The Underwater UUV Docking with 3D RF Signal Attenuation based Localization
0
조회
0
다운로드
1
인용
0
참고문헌
키워드
초록
In this paper, we developed an underwater localization system for underwater robot docking using the electromagnetic wave attenuation model. Electromagnetic waves are generally known to be impossible to use in water environment. However, according to the conclusions of the previous studies on the attenuation characteristics in underwater, the attenuation pattern is uniform and its model was accurately proposed and verified in 3-dimensional space via the omnidirectional antenna. In this paper, a docking structure and localization sensor system are developed for a widely used cone type docking mechanism. First, we fabricated electromagnetic wave range sensor transmit modules. And a mobile sensor node is equipped with unmanned underwater vehicle(UUV)s. The mobile node senses the four different signal strength (RSS: Received Signal Strength) from fixed nodes, and the obtained RSS data are transformed to each distance information using the 3-Dimensional EM wave attenuation model. Then, the relative localization between the docking area and underwater robot can be achieved according to optimization algorithm. Finally, experimental results show the feasibility of the proposed localization system for the docking induction by comparing the errors in the actual position of the mobile node and the theoretical position through the model.
Abstract
In this paper, we developed an underwater localization system for underwater robot docking using the electromagnetic wave attenuation model. Electromagnetic waves are generally known to be impossible to use in water environment. However, according to the conclusions of the previous studies on the attenuation characteristics in underwater, the attenuation pattern is uniform and its model was accurately proposed and verified in 3-dimensional space via the omnidirectional antenna. In this paper, a docking structure and localization sensor system are developed for a widely used cone type docking mechanism. First, we fabricated electromagnetic wave range sensor transmit modules. And a mobile sensor node is equipped with unmanned underwater vehicle(UUV)s. The mobile node senses the four different signal strength (RSS: Received Signal Strength) from fixed nodes, and the obtained RSS data are transformed to each distance information using the 3-Dimensional EM wave attenuation model. Then, the relative localization between the docking area and underwater robot can be achieved according to optimization algorithm. Finally, experimental results show the feasibility of the proposed localization system for the docking induction by comparing the errors in the actual position of the mobile node and the theoretical position through the model.
참고문헌 (11)
- L. Paull, "AUV navigation and localization : A review", IEEE J. Ocean. Eng, 39(1), pp.131~149 (2014)
- R. Stopforth, "Robots for Search and Rescue Purposes in Urban and Underwater Environments - a survey and comparison", proc. of 15th International Conference on Mechatronics and Machine Vision in Practice (2008)
- "Underwater robot images in google images “Nethlands underwater constructions robot”", ~
- B. Allen, "Autonomous docking demonstrations with enhanced REMUS technology", proc. of IEEE Oceans 2006, pp.1~6 (2006)
- J. Y. Park, "Experiments on vision guided docking of an autonomous underwater vehicle using one camera", IEEE J. Ocean. Eng, 36(1), pp.48~61 (2009)
- A. Negre, "Robust visionbased underwater homing using self-similar landmarks", J. Field Robot., 25(6-7), pp.360~377 (2008)
- M. D. Feezor, "Autonomous underwater vehicle homing", docking via electromagnetic guidance, 2001, pp.26(4), 515~521
- 이기현, "전자기파의 감쇄신호를 이용한 무인 잠수정의 도킹시스템 개발", 제어.로봇.시스템학회 논문지, 18(9), pp.830~836 (2012), 제어·로봇·시스템학회[DOI]
- D. Park, "Development of underwater distance sensor using EM wave attenuation", proc. on 2013 ICRA, pp.5125~5130 (2013)
- K. Kwak, "Underwater 3-D Spatial Attenuation Characteristics of Electromagnetic Waves with Omnidirectional Antenna", IEEE-ASME Trans. Mechatron, 21(3), pp.1409~1419
- K. Kwak, "Underwater 3-D Spatial Attenuation Characteristics of Electromagnetic Waves with Omnidirectional Antenna", IEEE-ASME Trans. Mechatron, 21(6), pp.2997~2998