海上移動ロボットにおける制御方法の検討

抄録

At the Department of Innovative Mechanical and Electronic Engineering, Chiba Institute of Technology, we are developing robots for realizing a new robot competition that moves autonomously in land, sea and air using renewable energy. In this paper, we examined the control method of moving autonomously from the sea to the land using wind power, and verified the effectiveness by experiments. The sailing mobile robot controls the sail and rudder from the sensor output and calculates their appropriate angles to obtain the propulsion to the destination. In the experiment, we verified whether the sail and rudder were properly controlled from the sensor output and we confirmed that the robot can be sailing autonomously to appropriate destination.