Variable-Structure Robot System for Underwater Investigation

- Sailing trajectory control of a moored USV in running water -

Abstract

As part of the NEDO robot project, we are engaged in developing a surface/underwater robot system which investigates underwater infrastructure such as dams and river facilities. In this paper, we propose a sailing control method based on “extended kite flying principle” for a moored unmanned surface vehicle (USV) in running water, and develop the mooring system and the USV with a mooring arm that can change the position of a coupling point with mooring wire. The effect of the arm and twin rudders control on position and posture of the USV sailing is analyzed. Controlling the arm, the rudders and the mooring system, the sailing of the USV on linear trajectories is realized with keeping posture of the USV in the direction substantially parallel to the water flow.