1自由度入力を用いた水中移動体の多自由度制御

抄録

In this research, a method to control an autonomous underwater vehicle with 3 degrees of freedom (DOF) while constraining the DOF of the actuator to 1 is proposed. The sink-float movement of the jellyfish is imitated in a test-made robot. The test result partially shows that the robot has the necessary thrust for the movement. Generally, multi-DOF control using low-DOF input in non-holonomic systems has high efficiency. With the appearance of the new under-actuated robot with even smaller number of actuators, the DOF of communication within a multi-agent underwater system could be reduced. This would help tackling partial faults of the robot during activities such as ocean investigation.