履帯型車両の旋回時における解析手法の検討

抄録

The AUV(Autonomic Underwater Vehicle) is one of the key technologies for the research under sea ice in the Arctic. In order to properly navigate an AUV, we propose a supporting UGV(Unmanned Ground Vehicle) on the ice that utilizes GNSS(Global Navigation Satellite System) and has the capability to communicate with the AUV. The UGV has crawlers and sensor of GNSS and IMU(Inertial Measurement Unit). In order to confirm the feasibility of the real UGV system, a simulation that can reproduce the moving motion of the actual machine is needed. In this study, we compared the experimental turning radius with the simulated turning radius and examined the influence of the simulated motion. Adjustment of the simulation model to cope with the difference between the actual and simulated motion is also discussed.