Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 10, 2017 - May 13, 2017
Multidirectional INtuitive Aquatic MObility (MINAMO) that we have developed is a personal vehicle on water. It is propelled with four thrusters fixed at the bottom and it can multidirectionally move on water according to the propulsion control of the thrusters.
The failure of thruster has not been considered so far. In this paper, we propose the propulsion control of three thrusters to return to the shore in the case of the failure of a thruster. The effectiveness is shown experimentally.
