Path plan strategy of an underwater robot to approach a moving emitter while maximising sound intensity measurements
- Authors
- Kim, Jonghoek
- Issue Date
- May-2019
- Publisher
- INST ENGINEERING TECHNOLOGY-IET
- Keywords
- path planning; mobile robots; path plan strategy; underwater robot; moving emitter; sound intensity measurements; underwater environments; sound energy; path plan approach
- Citation
- IET RADAR SONAR AND NAVIGATION, v.13, no.5, pp.795 - 801
- Journal Title
- IET RADAR SONAR AND NAVIGATION
- Volume
- 13
- Number
- 5
- Start Page
- 795
- End Page
- 801
- URI
- https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/1665
- DOI
- 10.1049/iet-rsn.2018.5314
- ISSN
- 1751-8784
- Abstract
- This study handles a situation in which an underwater robot approaches a moving emitter while measuring the sound made by the emitter. Since radio waves are easily dissipated in underwater environments, sound is the main energy transferred from the emitter to the underwater robot. In order to chase the emitter while measuring the emitter's sound, it is desirable that the robot can measure the sound energy made by the emitter as much as possible. In this study, the robot's path is designed to maximise the emitter's sound measured by the robot as well as to minimise the time spent until encountering the emitter. The effectiveness of the proposed path plan approach is demonstrated utilising extensive simulations.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - College of Science and Technology > Department of Electronic and Electrical Engineering > 1. Journal Articles
![qrcode](https://api.qrserver.com/v1/create-qr-code/?size=55x55&data=https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/1665)
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.