1P1-D24 ホバリング型AUVによる熱水地帯の詳細観測手法 : 光切断法を用いた熱水チムニーに対する相対ナビゲーション

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This paper proposes a relative navigation method for an underwater vehicle around hydrothermal chimneys. Hydrothermal vent areas are scientifically important for geological, chemical and biological research in deep oceans. Especially, investigation of hydrothermal chimneys is essential to reveal their mechanisms. The method enables an underwater vehicle to go around and observe such three-dimensional natural structures. In the method we determine vehicle's position and angle relative to a structure in real-time, based on light-sectioning technique using its camera and its sheet laser. This paper also reports the results of sea trials around a chimney at Kagoshima Bay using AUV Tuna-Sand. We verified the performance of the proposed method and succeeded in the detailed observation of the chimney.