ホバリング型AUV”Tuna-Sand2”による岩国沖藻場生息域の潜航調査

抄録

The oceans occupy about 70% of the Earth ’s surface have vast space and mineral, energy, and biological resources. In recent years, AUV has been developed for resource surveys in various sea areas We are working on developing and implementing a robust control system to improve the AUV autonomy and to navigate safely. This paper reports about observation results by hovelling type AUV ”Tuna-Sand2” on seaweed bed habitat off Iwakuni on January 2023 and estimate currents from the dive data to design the observer to estimate currents and implement for AUV. The dive results show that there were Northwesterly current and AUV position is easily affected by current when change target direction.