Nonlinear / Predictive Control System for Precision Control
1st Year(2012~2013) - Nonlinear Model Linearization Technique of Planar Motion of Underwater Robot
1. System Modeling of Underwater Robots
- Kinematic modeling of underwater robots
- Underwater robot dynamics model considering hydrodynamic forces & moments
- Underwater robot propeller model and ROV control simulation
2nd Year(2013~2014) - Sensor fusion and correction technique for 3-D motion of underwater robot
1. Camera sensor
- Visual odometry development
- Blur Detection for VO
2. Sensor fusion
- Camera vo & AHRS sensor fusion
