소형 에이전트를 이용한 무인 잠수정의 매니퓰레이션 시스템

Abstract

This paper introduces an agent vehicle based underwater manipulation system for the object recovery task. The system includes the main AUV(Autonomous Underwater Vehicle) that operates the entire system and navigates underwater, and the mini-ROV(Remotely Operated Vehicle) as an agent vehicle that mounts on the main AUV and operating as a manipulator. We developed the underwater robotic simulator for validating the methods. Finally, this paper suggests that our manipulation system would be an effective manipulation method