Hovering control of the underwater robot to inject acetic acid to the crown-of-thorns starfish

Abstract

In recent years, coral of significant value is damaged. We have been researching and developing an underwater robot for coral reef conservation. Underwater robot will clean the crown-of-thorns starfish in the acetic acid injection. In this paper, we describe the development of hovering control of underwater robot. Underwater robot uses a hovering on image processing to operation assistance. Image processing use a particle filter. Underwater thrusters will feedback control of the calculation result. Lateral movement control is a control for moving to just beside. Hovering using the image processing will experiment in water tank. Water tank experiment uses a model. Underwater robot was injected by hovering using the image processing in a water tank. Lateral movement control will experiment in pool. Underwater robot moved by lateral control just beside.