수중 항법을 위한 ROS 기반 시뮬레이터를 이용한 센서 데이터 수집Sensor Data Collection by Using ROS-based Simulator for Underwater Navigation
- Other Titles
- Sensor Data Collection by Using ROS-based Simulator for Underwater Navigation
- Authors
- 김하선; 김아란; 강창호; 김선영
- Issue Date
- Apr-2023
- Publisher
- 제어·로봇·시스템학회
- Keywords
- sensor data collection; unmanned underwater vehicle simulator; robot operating system; underwater navigation; .
- Citation
- 제어.로봇.시스템학회 논문지, v.29, no.1, pp.374 - 379
- Journal Title
- 제어.로봇.시스템학회 논문지
- Volume
- 29
- Number
- 1
- Start Page
- 374
- End Page
- 379
- URI
- https://scholarworks.bwise.kr/kumoh/handle/2020.sw.kumoh/21646
- DOI
- 10.5302/J.ICROS.2023.22.8009
- ISSN
- 1976-5622
- Abstract
- Simultaneous localization and mapping (SLAM) is a navigation technology used in scenarios where the surrounding environment is unknown. Although SLAM technology is highly advanced in atmospheric environments, it is not highly effective in underwater environments because of various constraints. In addition, experiments in underwater environments involve higher risks and costs compared with other environments. Therefore, in this paper, a simulator-based data collection method was proposed to reduce risks and costs for effective experimentation. By using the proposed method, sensor data can be acquired by adding and generating paths to control the movement of underwater robots depending on research purposes. In addition, collected data can be saved in various formats to facilitate data processing. Moreover, an experiment was conducted to verify that SLAM can be performed using the data collected.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - School of Mechanical System Engineering > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.