Underwater Platform for Intelligent Robotics and its Application in Two Visual Tracking Systems
Yuya Nishida*, Takashi Sonoda*, Shinsuke Yasukawa**, Kazunori Nagano**, Mamoru Minami***, Kazuo Ishii*, and Tamaki Ura*
*Kyushu Institute of Technology
2-4 Hibikino, Kitakyushu-shi, Fukuoka 808-0196, Japan
**Institute of Industrial Science, The University of Tokyo
4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan
***Graduate School of Natural Science and Technology, Okayama University
3-1 Tsushimanaka, Kita-ku, Okayama-shi, Okayama 700-8530, Japan
A hovering-type autonomous underwater vehicle (AUV) capable of cruising at low altitudes and observing the seafloor using only mounted sensors and payloads was developed for sea-creature survey. The AUV has a local area network (LAN) interface for an additional payload that can acquire navigation data from the AUV and transmit the target value to the AUV. In the handling process of the state flow of an AUV, additional payloads can control the AUV position using the transmitted target value without checking the AUV condition. In the handling process of the state flow of an AUV, additional payloads can control the AUV position using the transmitted target value without checking the AUV condition. In this research, water tank tests and sea trials were performed using an AUV equipped with a visual tracking system developed in other laboratories. The experimental results proved that additional payload can control the AUV position with a standard deviation of 0.1 m.
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