다중빔음향측심기 계측모델을 활용한 실시간 해저지형도 작성 모의시험

Abstract

This paper proposes a measurement model of Multi-Beam Echo Sounder (MBES) for seabed mapping and introduces the result of conducting a seabed mapping simulation test in the Robot Operating System (ROS) middleware environment. The simulation test consists of four techniques: proposed measurement model of multibeam echo sounder, path generator by vehicle model, local-map generator, and Iterative Closest Point (ICP) based map registration for the global mapping. Seabed map information is handled in the form of the point cloud, and the ROS Rviz is used to visualize the simulation test results.