Chapter 25 — Underwater Robots

Preliminary experimental result of an AUV yShark2

This video shows preliminary experimental result of an underwater robot named yShark2 developed by KRISO (Korea Research Institute of Ships and Ocean Engineering). yShark is a test platform and is designed especially for testing the intelligent algorithms we are working on. For this, it has AHRS, IMU, DVL, two cameras, an LED light, a depth sensor, eight-channel ranging sonar as basic navigation sensors, and we can install an imaging sonar DIDSON for obtaining pictures as shown in Fig. 25.2. More importantly, its system software architecture is implemented using the structure explained in Fig. 25.7. The motion in this video is controlled by autonomous algorithms.
Hyun-Taek Choi
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