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Manipulation Purpose Underwater Agent Vehicle for Ghost Net Recovery Mission

Title
Manipulation Purpose Underwater Agent Vehicle for Ghost Net Recovery Mission
Authors
KIM, JUHWANKIM, TAE SIKJASON, KIMYU, SON CHEOL
Date Issued
6-Nov-2019
Publisher
IEEE/RSJ
Abstract
We designed a manipulation purpose small agent vehicle and performed a ghost net recovery mission with the vehicle to test its control accuracy and capacity to be used in other tasks. We constructed a control model that allows the vehicle to perform the complex motion of 4-degrees-offreedom (DOF) movements and underwater manipulation. Also,we implemented a ghost net recovery algorithm that can automatically detect, grip, and lift ghost nets. The test results show stable yaw, depth, and position control capabilities, and the manipulation performance was verified by automatically performing a ghost net recovery mission
URI
http://oasis.postech.ac.kr/handle/2014.oak/99990
Article Type
Conference
Citation
2019 IEEE/RSJ IROS Macau, China, page. 1 - 6, 2019-11-06
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 YU, SON CHEOL
Dept. of Creative IT Engin.
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