可変ベクトル推進器を用いた無索式海中ロボットの基本制御 : 第1報ロボットの構築と水槽実験

概要

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This paper describes an untethered underwater vehicle (UUV) with distributed controllers and underwater acoustic communication system. Our UUV is realized compact and light weighted by employing variable vector propeller mechanism and a compact control system using sophisticated logic circuit. Control of our UUV was realized with great precision using the underwater ultrasonic command signals. The UUV is controlled autonomously utilizing the compass, depth and collision avoidance sensors. Experimental results indicate that our UUV could move along the target path and hold the desired position keeping the azimuth direction. Also it is confirmed that our algorithm to increase the reliability of the ultrasonic communication system worked without any failure. Furthermore, we measured the hydrodynamics of the UUV for the design and evaluation of the control system.
社団法人日本船舶海洋工学会の論文
1999-09-04