河川堤防管理効率化のためのACV開発

抄録

In some urban rivers, the water depth is shallow, and sludge is deposited on the riverbed. For this reason, the workers were check the riverbank on foot. Therefore, efficient urban area riverbank inspection system is required. In some rivers, many inspections using UAVs and MMS have been tried, but flight of UAV is prohibited by the aeronautical law in urban areas of Japan. Therefore, the amphibious systems are suitable for inspection robot.

We are aiming to develop an inspection system using ACV for the advancement of urban river inspection. In rivers, there are obstacles such as driftwood and disturbances caused by water currents, so ACV is required to have stability and posture stability. In this report, we describe its attitude control and 3D point cloud restoration．