2A1-A03 グライダー型小型AUV"SeaBird"の開発 : 第2報 : 制御用基板の開発と運動制御(水中ロボット・メカトロニクス)

抄録

The authors are planning to develop an autonomous underwater vehicle (AUV) with a function of underwater glider with independent controllable main wings. This vehicle has 2 thrusters and 2servo motors for changing the direction of the thrusters. This paper reports development of the new control board which has sensors for depth, acceleration, and direction. Consequently, the result of depth control with P controller by the new control board is presented.