B305 動力学を考慮したシミュレータによるナビゲーションに関する研究(OS10 海洋におけるシステムと制御2)

概要

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Recently, in the oceanic survey area, the underwater robot is drawn attention as good tools. However, Autonomous Underwater Vehicle (AUV) cannot use the wireless communication and GPS and so on. Therefore, AUV needs the high-level autonomy navigation system. Actually, if we develop the real robot or navigation system, we needs a big amount of the developing money. And, If we made the robot, it is very difficult that the robot modify again. In this time, the simulation is attracting attention around the navigation fields. Open Dynamics Engine (ODE) is simulator, which has been used since 2001. In this paper, we aim to develop the navigation system in the underwater. At first, we made the omni-directional mobile robot in the simulator. And, we simulate the 2 dimensional environment navigation system.
一般社団法人日本機械学会の論文
2011-06-28