長期水環境観測を目的とした小型水上自律移動センシングデバイスのための制御戦略

抄録

The water area observation applications have been gotten much attention to identify and study the water environmental changes. We have developed a novel omni-directional movement sensing device that can move to an arbitrary position and keep its position on the water surface. The characteristics of the proposed device are portable dimension, low-cost manufacturing, omni-directional mobility, and sustainable observation. Our previous study figured out an efficient mobility strategy is necessary for the long term operation in water area. In this paper, we set up movement strategies for keeping the sensing device position in real field and compare them to identify the most efficient one.