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, Tamaki Ura

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)238-247
Number of pages10
JournalJournal of Robotics and Mechatronics
Volume30
Issue number2
DOIs
Publication statusPublished - Apr 1 2018

Keywords

  • Autonomous underwater vehicle
  • Sea-creature sampling
  • Visual tracking

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering

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