湖沼調査用グライダー型水中ロボットの開発

―小型模型機の特性計測に基づく運動の推定と水中滑空実験の結果の比較検討―

抄録

The authors are developing a glider-type underwater robot for environmental survey. In this paper, we propose a method to estimate the gliding ratio and moving velocity of the underwater glider under steady state conditions, based on the force balance and the measurement results of the fluid force acting on a small model of an underwater glider. The estimated results were compared with the results of an underwater gliding experiment using a small model underwater glider. As a result of detailed investigation, it was found that slightly 0.5[mm] error was involved in the initially measured center of gravity position. By correcting for this error, the gliding ratio and moving velocity can be accurately estimated.