IROS 2019poster7 citations
Manipulation Purpose Underwater Agent Vehicle for Ghost Net Recovery Mission
Juhwan Kim, Taesik Kim, Jason Kim, Son-Cheol Yu
Abstract
We designed a manipulation purpose small agent vehicle and performed a ghost net recovery mission with the vehicle to test its control accuracy and capacity to be used in other tasks. We constructed a control model that allows the vehicle to perform the complex motion of 4-degrees-of-freedom (DOF) movements and underwater manipulation. Also, we implemented a ghost net recovery algorithm that can automatically detect, grip, and lift ghost nets. The test results show stable yaw, depth, and position control capabilities, and the manipulation performance was verified by automatically performing a ghost net recovery mission.
BibTeX
@inproceedings{iros2019_manipulationpurp,
title = {Manipulation Purpose Underwater Agent Vehicle for Ghost Net Recovery Mission},
author = {Juhwan Kim and Taesik Kim and Jason Kim and Son-Cheol Yu},
booktitle = {IROS 2019},
year = {2019}
}