S1107-1-2 顎脚を持つザリガニ型水中ロボットによる化学物質の検出と発生源の探索(機構の開発とシミュレーション)

概要

論文の詳細を見る
This paper reports on the improvements of an autonomous wheeled underwater robot designed to localize chemical sources in stagnant water. The robot can generate water currents by waving its arms mimicking fan organs of crayfish (maxillipeds). Generated water currents help the robot detect chemical substances by drawing water samples from the surroundings. It is shown experimentally that the angular range of water sample collection can be enlarged by tilting the maxilliped arms forward by 45 degrees. To achieve chemical source localization in a large field, a multiphase algorithm consisting of a random search phase and a plume tracking phase is implemented into the robot. The algorithm is based on the hypotheses obtained by observing the behaviors of crayfish searching for food. The experimental results show that the proposed algorithm and the revised layout of the maxilliped arms improve the search ability of the robot.
社団法人日本機械学会の論文
2009-09-12