論文

査読有り
2021年2月20日

Development of Testbed AUV for Formation Control and its Fundamental Experiment in Actual Sea Model Basin

Journal of Robotics and Mechatronics
  • Akihiro Okamoto
  • ,
  • Motonobu Imasato
  • ,
  • Shunka C. Hirao
  • ,
  • Hidenori Sekiguchi
  • ,
  • Takahiro Seta
  • ,
  • Masahiko Sasano
  • ,
  • Toshifumi Fujiwara

33
1
開始ページ
151
終了ページ
157
記述言語
英語
掲載種別
研究論文(学術雑誌)
DOI
10.20965/jrm.2021.p0151
出版者・発行元
Fuji Technology Press Ltd.

The formation control of multiple autonomous underwater vehicles (AUVs) is increasingly becoming a vital factor in enhancing the efficiency of ocean resources exploration. However, it is currently difficult to deploy such a package of AUVs for operation at sea because of their large size. The aim of our study is to create a demonstration system for formation control algorithms using actual hardware. To implement a prototype system, we developed a testbed AUV usable in a test basin and performed a simple formation control test in the Actual Sea Model Basin of the National Maritime Research Institute, Japan. Two AUVs, the simulated “virtual” leader and the developed “real” follower, communicate through an acoustic link and hence cruise to maintain a constant distance between them. Tests for more sophisticated formation control algorithms will be enabled using the system; consequently rapid implementation at sea will be realized.

リンク情報
DOI
https://doi.org/10.20965/jrm.2021.p0151
URL
https://www.fujipress.jp/main/wp-content/themes/Fujipress/phyosetsu.php?ppno=ROBOT003300010014

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