Preliminary Study on the Application of High Resolution Scanning Sonar of Multi-legged Seabed Robot

Authors
Hyuk Baek, Bong-Huan Jun, Bo-Ram Kim, Hyung-Won Shim, Pan-Mook Lee

JOURNAL OF SHIPS & OCEAN ENGINEERING No.52 pp.73~81, 2013

Abstract - In this paper, we studied about the operating strategies of an imaging sonar for a multi-legged seabed robot via open sea experiment, of which the robot overcomes the low visibility environment. This experiment was carried out from April 3 to April 6 and April 17 to 19, 2012 at the pier of South Sea Research Institute to get the vertical and horizontal images. The device used in the experiment was 1171 high resolution scanning sonar manufactured by Kongsberg Maritime. Through this experiment, we have generated a sonar image and suggested a criteria for the positioning and sensor arrangement on the robot. Sonar images are also integrated into the picture of Google Earth satellite map by the mosaic processing of Adobe Photoshop CS5® program.

(Pressed in Korean)