抄録
AUVs have advantages that can observe seafloor without tether cables nor human control. However, operators can not confirm the unobserved area in rough terrain when the survey is in-progress. If unobserved areas are found by post processing, another deployment of the AUV is necessary to cover them. Therefore, we have proposed a recursive observation method by an AUV to realize a high coverage observation at one deployment. This paper, that is a sequel of the previous one, reports the results of sea experiments held at Suruga Bay in Japan, in November 2012. An artificial target was set up on the seafloor. Then the AUV Tri-TON observed the target based on the proposed method. As the generated path was concentrated on the target, the performance of the proposed method at the real sea environment was verified. In addition, mapping accuracy was evaluated by comparing the observational results and ground truth.
