Hyung-Ju Kang

We don’t have enough information about this author to calculate their statistics. If you think this is an error let us know.
Learn More
This paper proposes a 3D path tracking method for a class of torpedo-type AUVs (autonomous underwater vehicles) with general form of dynamics. For this kind of AUV, there are only three control inputs are available for its 6DOF 3D motion, and therefore it's a typical underactuated system. First, we introduce certain two spherical coordinate transformations(More)
In this paper, we propose the design of artificial underwater retro-reflective markers and their recognition algorithm. Retro-reflective materials, which are used for some portion of the marker, are used to overcome the limitation of underwater visibility. Owing to the distortion in the image captured by an underwater camera, the recognition algorithm(More)
For underwater control and localization of an unmanned underwater vehicle (UUV), we have used vision information of a suggested pattern image. The pattern is based on suggested criteria. From the pattern specialized on direction information we extracted directional lines and had done Double Hough Transform (DHT) method on them. Once Hough Transform (HT) is(More)
This paper describes the development of the underwater robot platform for exploration work in the strong current. In order to minimize the drag force as 3.5knots, the platform is designed to have discus-shape outline and the projected area of the platform is minimized. Furthermore, the thruster are deployed symmetrically, which is advantageous for hovering(More)
This paper considers the initial alignment problem for underwater robot's strapdown inertial navigation system. In general, initial alignment can be roughly divided into three types; coarse alignment, gyro compassing, and aided alignment. For underwater robot, gyro compassing is not suitable for its initialization, since it is difficult to accurately rotate(More)
  • 1