Unity Engine-based Underwater Robot 3D Positioning Program Implementation

A number of studies related to underwater robots are being conducted to utilize marine resources. However, unlike ordinary drones, underwater robots have a problem that it is not easy to locate because the medium is water, not air. The monitoring and positioning program of underwater robots, an existing study for identifying underwater locations, has difficulty in locating and monitoring in small spaces because it aims to be utilized in large spaces. Therefore, in this paper, we propose a three-dimensional positioning program for continuous monitoring and command delivery in small spaces. The proposed program consists of a multi-dimensional positioning monitoring function and a ability to control the path of travel through a three-dimensional screen so that the depth of the underwater robot can be identified. Through the performance evaluation, a robot underwater could be monitored and verified from various angles with a 3D screen, and an error within the assumed range was verified as the difference between the set path and the actual position is within 6.44 m on average.