Mun-Jik Lee

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In this paper, we present a range sonar array based SLAM method for P-SURO AUV which is a test-bed for developing various underwater technologies. The vehicle's operating environment is a 12(L)x8(W)x6(D)m dimensional cuboid basin and its wall information is assumed to be known in priori. With this information, we propose an EKF (Extended Kalman Filter) SLAM(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)
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)
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