2A1-F03 Improved 3-D Underwater Terrain Covering for Multi-AUV

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概要

• 論文の詳細を見る

• In order to improve the efficiency of a terrain covering algorithm for underwater robots (AUVs), an artificial island (AI) technique is applied. This technique reduces the path length and the operating time of the AUV as compared with conventional covering algorithms, when the AUV explores an unknown three dimensional underwater environment. In this paper, the concept of the artificial island technique is used and it is expanded in multi-AUV system. Its validity is proved under certain conditions. Through simulations, the validity of this technique with multi-AUV is confirmed in terms of the total path length and the time cost of the AUVs.

• 一般社団法人日本機械学会の論文
• 2009-05-25

著者

• Lee Beom

  Asri Department Of Electrical Engineering Seoul National University

• LEE Beom

  ASRI, Department of Electrical Engineering, Seoul National University

• LEE Tae

  ASRI, Department of Electrical Engineering, Seoul National University

• Lee Kong

  ASRI, Department of Electrical Engineering, Seoul National University

• Lee Heon

  ASRI, Department of Electrical Engineering, Seoul National University

• Lee Tae

  Asri Department Of Electrical Engineering Seoul National University

• Lee Kong

  Asri Department Of Electrical Engineering Seoul National University

• Lee Heon

  Asri Department Of Electrical Engineering Seoul National University

関連論文

• 2A1-F05 Collision Resolution of Robots Coexisting with Humans
• 2A1-F04 Discovering Vulnerable Areas for Multiple Security Robots
• 2A1-F01 Area Allocation for Cleaning Task using Multiple Robots
• 2A1-F03 Improved 3-D Underwater Terrain Covering for Multi-AUV
• 2A1-F02 3D Collision-free Motion Planning for Multi-AUV
• 1A1-E18 Dispersion Technique for Particle Diversity in FastSLAM

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