Fig.1 Mission Strategy
Pass through the "Gate"(Fig. 2)
1. A starting direction of the gate is saved when the robot starts from the launcher.
2. Submerge to a set depth.
3. Forward with following the saved direction.
4. The gate task is completed if a traveled distance is over a threshold distance.
Back in step g2h if the traveled distance isnft over the threshold.
2. Submerge to a set depth.
3. Forward with following the saved direction.
4. The gate task is completed if a traveled distance is over a threshold distance.
Back in step g2h if the traveled distance isnft over the threshold.
Fig.2 Passing Through the "Validation Gate"
Following the "Path"(Fig. 3)
1. Search a line by pan-tilt camera.(use yawing)
2. Pan angle is saved, and the robot turns around, if the robot finds a line.
3. Close to just above the line.
4. Forward with following the line.
5. The gPathh task is completed when the image of the line
is framed out from camera with following the line.
Go back to step1 if itfs not.
2. Pan angle is saved, and the robot turns around, if the robot finds a line.
3. Close to just above the line.
4. Forward with following the line.
5. The gPathh task is completed when the image of the line
is framed out from camera with following the line.
Go back to step1 if itfs not.
Fig.3 Following the "Path"
Playing the gSlot Machineh(Fig. 4)
1. Search buoy by pan-tilt camera.(use yawing ,heaving)
2. Pan angle is saved, and the robot turns around, if the robot finds a buoy.
3. Compute area of the buoy, and the robot closes to the line.
4. The task is completed, when the area of the buoy is over the area of threshold.
Go back to step1 if itfs not.
2. Pan angle is saved, and the robot turns around, if the robot finds a buoy.
3. Compute area of the buoy, and the robot closes to the line.
4. The task is completed, when the area of the buoy is over the area of threshold.
Go back to step1 if itfs not.
Fig.4 Playing the "Slot Machine"
Playing the gBlack Jack Tableh(Fig. 5)
1. Search bins by a bottom camera.(use yawing) .
2. compute the binsf center of gravity by image processing.
3. The robot adjusts its position when dropper is located in binsf center of gravity.(surging, swaying)
4. The robot closes to the bins with computing the area of bins if it can adjust its position perfectly. Go buck to step1 if itfs not.
5. The robot drops 2 markers and the task is completed when the robot closes up to the area of the bins is over the area of threshold.
Go back to step1 if itfs not.
2. compute the binsf center of gravity by image processing.
3. The robot adjusts its position when dropper is located in binsf center of gravity.(surging, swaying)
4. The robot closes to the bins with computing the area of bins if it can adjust its position perfectly. Go buck to step1 if itfs not.
5. The robot drops 2 markers and the task is completed when the robot closes up to the area of the bins is over the area of threshold.
Go back to step1 if itfs not.
Fig.5 Playing the "Black Jack"
Going up the gRooftoph(Fig. 6)
1. Search until a sound wave of the bins is over a sound wave of threshold.(yawing)
2. Compute by a time delay between a signal and another signal acquired by hydrophones.
3. Turn to a sound source.
4. The robot forwards if it turns to the sound source perfectly.
Go back to step3 if itfs not.
5. The robot surfaces and the task is completed when it closes up to a distance to the sound source is over a distance of threshold.
Go back to step1 if itfs not.
2. Compute by a time delay between a signal and another signal acquired by hydrophones.
3. Turn to a sound source.
4. The robot forwards if it turns to the sound source perfectly.
Go back to step3 if itfs not.
5. The robot surfaces and the task is completed when it closes up to a distance to the sound source is over a distance of threshold.
Go back to step1 if itfs not.
Fig.6 Going up the "Rooftop"
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