다관절 해저보행로봇의 자율 운용기술 개발을 위한 선행 연구

다국어 초록 (Multilingual Abstract)

In missions involving the removal of threats through manipulation after approaching seabed mines, conventional floating type autonomous unmanned underwater vehicles (UUVs) face significant limitations due to challenges in overcoming underwater currents. To overcome these challenges, research is being conducted on the use of underwater walking robots, which offer more robust control in seabed environments. This research presents a preliminary study into indoor navigation using a quadruped walking robot to simulate an autonomous approach mission on ground indoor environment. The research focused on mapping, path planning, perception and path following with gait pattern changes. These capabilities were implemented in a framework integrated with the Unitree B1 quadruped robot. Results from the integrated experiments demonstrated that the robot could autonomously plan a path using the Rapidly-exploring Random Tree (RRT) algorithm on a 2D map recognize obstacles, switch modes, and reach the target point.