慣性航法によるマンタ型水中ロボットの自己位置推定

抄録

The development of autonomous underwater robots is required for the distribution survey of aquatic life. Robots mimicking fish propulsion mechanisms are less likely to seriously affect living things. In our laboratory, a Manta robot that has a propulsion mechanism with pectoral fins has been developed. The operation range of the conventional Manta robot was limited by a cable. It needs an autonomous navigation system not so as to be restricted by cables. In this study, we propose a navigation system that applies an inertial navigation system to a Manta robot and compensates the cumulative error by a GPS. In this paper, the coordinate position is measured using the constructed inertial navigation system, and its accuracy evaluation is carried out to verify the effectiveness of the proposed method.