TY - JOUR
T1 - Underwater platform for intelligent robotics and its application in two visual tracking systems
AU - Nishida, Yuya
AU - Sonoda, Takashi
AU - Yasukawa, Shinsuke
AU - Nagano, Kazunori
AU - Minami, Mamoru
AU - Ishii, Kazuo
AU - Ura, Tamaki
N1 - Funding Information:
This work was supported by the Japan Science and Technology CREST grant program for the “Establishment of core technology for the preservation and regeneration of marine biodiversity and ecosystems,” Grant Number JPMJCR11A2. The authors would like to thank the research vessel Shinsei-maru crew and Japan Agency for Marine-Earth Science and Technology (JAMSTEC) during the KS-17-J03 research cruise.
Publisher Copyright:
© 2018, Fuji Technology Press. All rights reserved.
PY - 2018/4
Y1 - 2018/4
N2 - 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.
AB - 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.
KW - Autonomous underwater vehicle
KW - Sea-creature sampling
KW - Visual tracking
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U2 - 10.20965/jrm.2018.p0238
DO - 10.20965/jrm.2018.p0238
M3 - Article
AN - SCOPUS:85049226634
VL - 30
SP - 238
EP - 247
JO - Journal of Robotics and Mechatronics
JF - Journal of Robotics and Mechatronics
SN - 0915-3942
IS - 2
ER -