海底採掘ロボットの自己位置計測装置の研究

抄録

The main underwater position measurement system is the measurement method using sound waves (e.g., SONAR). However this method is generally low accuracy and very expensive. The purpose of this study is to develop a position measurement system with higher accuracy than conventional underwater position measurement systems. In this study, we proposed a position measurement system using optical sensor as a new position measurement system in the underwater, and an experimental system was created to simulate the proposed position measurement system. The problem of the proposed position measurement system is the tracking performance of the tracker. Therefore, the tracking performance of the tracker which is a part of the proposed position measurement system, is evaluated by the created experimental system.