定点観測のためのクアッドローター型ホバリング水中ロボットの姿勢制御

抄録

Ocean development has actively progressed in the sea near Japan. However, in marine research, it is impossible for people to work in deep sea because of low temperature, high pressure and so on. Therefore, underwater robot that specializes in fixed-point observation in the polar regions, such as volcanoes and sunken ships have been required. We are in order to achieve it, we have developed the underwater robot that mimics the quad-rotor helicopter in the past. This robot is capable of performing freely exercise of translation and rotation by controlling the rotational speed of the four rotor. In this research, we carried out the design of the control mechanism for the robot was developed, confirmed the effectiveness of the control mechanism by numerical simulation.