| 摘要 |
PURPOSE: An underwater robot and control method thereof are provided to accurately sense an obstacle by setting a traveling path with considering the distance from the obstacle, the angle from a target spot, and the error degree along a trajectory. CONSTITUTION: A method for controlling an underwater robot comprises following steps. The distance and angle information about an obstacle on a traveling path is obtained by an infrared ray sensor(10). The shape and gradient of an obstacle are obtained using the angle information. A virtual three-dimensional coordinate is calculated using the underwater robot as the origin, and divided into cells. The weighted values of each cell are calculated. The traveling path with the highest weighted value is set as the traveling path. |
