二つの独立制御ラダーによる抗力を利用した曳航型水上ロボットの運動制御

抄録

We propose a leader-follower system using passive towed robots for investigation on wide area. In this system, the follower boat is towed by the leader boat with tether. The conventional motion control method is based on the assumption that the tether which links leader boat to follower boat always has tension. However, the tether cannot keep tension because of wind, wave and so on and the conventional method cannot work properly without tension. In this article, we propose a novel motion control method using drag force caused by two rudders attached to catamaran for keeping tension of the tether. We develop the catamaran which has two independently controlled rudders, then validate the proposed method by experiment.