Experimental Investigation on Bi-directional Guidance Control Between an Underwater Mobile Robot and Laser Pointer

레이저 위치 지시기와 이동 로봇간의 상호유도제어의 실험적 고찰

In the inspection of the reactor pressure vessel using an underwater mobile robot, we developed a new bi-directional guidance control scheme between an underwater mobile robot and a laser pointer. We imposed fanning to the inclinometer embedded in the mobile robot to improve its transient response, and used heuristic control scheme to reduce accidents when the laser pointer losts the mobile robot. We implemented these algorithms to our reactor vessel inspect ion system and performed a series of experiments.