湖沼調査用グライダー型水中ロボットのための翼シミュレーション

―小型模型機の試作と滑空実験―

抄録

In this study, a small model underwater glider that can measure the position and orientation during gliding is developed. To understand the properties of the robot in the water is important, e.g., the glide ratio to reduce the energy consumption. The glide ratio depends on the shape of the wings and body. We are developing the wing simulator to realize the simulator for whole motion of underwater robot. For checking the accuracy of the simulation, the experimental results are compared with that of the simulation. The position and orientation of the model underwater glider are measured by a tilt sensor and a camera, respectively. Finally, the gliding experiments are conducted to evaluate the measured position and orientation.