Abstract
A kind of an air cushion vehicle (ACV) is known as a hovercraft which carries out a cruise by blowing off the air from the bottom of the body. The ACV has advantages, such as amphibian vehicle, large payload, and so on. However, the ACV has drawbacks such as its drivability is bad. An improvement of the drivability is effective for the run of the ACV and the disturbance rejection performance of the controller is very significant. In this research, the position of the ACV is estimated using a marker by a turning camera. When the ACV runs on the arc, the ACV runs with a sideslip keeping the given angle against a tangent of arc. It compares with running along the tangential direction. It is confirmed through an experiment that the centripetal force from the part of the thrust by rear fans is effective for the arc running.
