Journal of Robotics and Mechatronics
Online ISSN : 1883-8049
Print ISSN : 0915-3942
ISSN-L : 0915-3942
Regular Papers
Development of Testbed AUV for Formation Control and its Fundamental Experiment in Actual Sea Model Basin
Akihiro OkamotoMotonobu ImasatoShunka C. HiraoHidenori SekiguchiTakahiro SetaMasahiko SasanoToshifumi Fujiwara
ジャーナル オープンアクセス

2021 年 33 巻 1 号 p. 151-157


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.



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