海中岩陰部への侵入と調査を目的とした2台のROV協調制御

―アーム部動作に伴うベース部自律姿勢制御―

抄録

Among underwater resource surveys, the quadrat method is difficult to investigate deep inside rocks. In this study, multiple ROVs cooperative control system was constructed to achieve intrusion into the shade and investigation by synergistic movements of independent arm part and base part. Especially, we examined the autonomous attitude control performance of the base part considering the change of posture of the base part passively generated by the movement of the arm part as disturbance. As a result, the base part maintained autonomously the arbitrary two-dimensional plane on which the arm part operates. Therefore, we confirmed that the cooperative control constructed in this study is purposeful for task demands.