1P1-B11 水中ロボットのための音源定位システム : 第2報:3次元定位への拡張

概要

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As the tools for ocean survey and natural energy resources search, underwater robots are expected to operate these missions because underwater operations are too danger for humans due to water pressures. In fact, Autonomous Underwater Vehicle (AUV) succeeded some operations such as observations of an underwater volcano and a Sperm Whale tracking. One of the key issues for underwater robots is self-localization problem in the ocean. Self-localization systems are required to navigate underwater robots. We focus on Acoustic Positioning System because it uses sound waves which propagate well underwater. However, any APS has problems caused by a kind of noise "multipath" in general. Accordingly, robust APS against noises is hoped for underwater robots. In our previous research, we described a 2-dimensional underwater sound source localization system designed for mounting in underwater robots. In this paper, we mention about an expansion to a 3-dimensional sound source localization.
2009-05-25