Design of Position Tracing System for Underwater Vehicle Robots using Pan/Tilt and PSD Sensor

팬틸트와 PSD 센서를 이용한 수중 로봇의 위치추적 시스템 구현

This paper presents a study of position tracing system for Underwater Vehicle Robots(UVR) that is inspecting an atomic furnace. This system development is the basic research for the purpose of position estimation of UVR and preventing that UVR crash into the wall of an atomic furnace. For this purpose, Pan/Tilt Unit that is attached Laser is pointing PSD(Position Sensitive Detector) Sensor which is stuck to the upper side of UVR. Through this action, we can find the Position of UVR. In this paper, we construct the system for aiming the laser pointer at PSD Sensor using pan/tilt and study the optimum algorithm for finding the optional position that is located at the space which is pointable area by Laser device.