Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 08, 2016 - June 11, 2016
Recently, ocean energy conversion systems using offshore structures such as mega-floats are been developed. Stable operations performed of those structures require constant monitoring and maintenance. In this study, we propose position and posture control methods using acceleration sensors and depth sensors for an Autonomous Underwater Vehicle (AUV) for maintenance of underwater structures. We made a small underwater mobile robot with sensors and thrusters for 3-D motion in the water. We performed experiments for considering performances of position and position controls.
