低コスト高速AUVの3次元姿勢制御

抄録

This paper introduces a 3-dimensional attitude control system for AUV (Autonomous Underwater Vehicle) HATTORI. The HATTORI (Highly Agile Terrain Tracker for Ocean Research and Investigation) is a lightweight and low-cost testbed designed for rapid and efficient imaging of rugged seafloor, such as coral reefs. In the 3-dimensional attitude control system, the AUV controls its 3-dimensional attitude by controlling angular velocities based on quaternion's Slerp (Spherical Linear intERPolation) with low-cost hardwares. We succeeded in controlling HATTORI's 3-dimensional attitude by master-slave. The method is expected to be used for other underwater vehicle's 3-dimensional attitude control because the method is easy and needs only low-cost hardwares.