2A2-C08 AUV協調作業を水槽実験で検証するための小型テスト機の構築(水中ロボット・メカトロニクス)

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In this paper we present our developing basin experiment system for the development of underwater multi-agent technologies focusing on our small AUV testbed and an ultrasound ranging system for collision detection and coordinate calculation for the basin experiment. The underwater multi-agent system has great potential for near future ocean activities. In a multi-agent system design, the balance of cooperation and autonomy of the agent robot is important and the balance varies depending on the mission. Also, there are many uncertainties like fluid dynamical nonlinearity or multi path fading in acoustic communication etc. So we need to execute not only computer simulations but also many basin experiments using real system..
一般社団法人日本機械学会の論文
2007-05-11