3D Profiling SONAR Result of the Submerged Structrure and Interworking Operation Strategy of CR200

Authors
Hyuk Baek, Bo-Ram Kim, Jin-Yeong Park, Bong-Huan Jun, Pan-Mook Lee

한국해양과학기술협의회 공동학술대회, 2013, Jeju in Korea

Abstract - In this paper, we studied about profiling SONAR operating strategies of Multi-legged seabed robot based on result of th open sea experiment that the robot overcome the low visivility environment. This experiment was carried out on February 12 to February 22, 2013 at pier of South Sea Research Institute to get 3D profiling data and used device was 1171 high resolution scanning SONAR manufactured by Kongsberg Maritime. We acquired 3D profiling data from 19 locations using Profiling SONAR bracket, removed noise of the data and composed them by a post process program at CloudCompare. As a result of the composition, the substructure of a pier could be presented by total 2,001,349 points. In conclusion we established 3D Profiling SONAR operating strategy for CR200 through the experiment of profiling at pier.

(Pressed in Koream)