Development of Manipulation Purpose Small Agent Vehicle System for Cutting Mission for AUV

In this paper, small agent ROVs based manipulation system is proposed for underwater cutting mission such as a rope, fish net. AUV has small agent which cutter or flipper for the manipulation. The small agent system was developed to carry out the manipulation tasks. Internal vision and external image sonar were used for the sensing of the sophisticate task. For effective manipulation performance, the optimal agent's shape and layout of thrusters were studied. Indoor tank tests were conducted to study the feasibility of the cutting mission.