Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 29, 2024 - June 01, 2024
This paper evaluates the power consumption of an autonomous mobile sensing robot that observes a fixed-point environment while moving through multiple locations on the water, when the robot transforms into an efficient form in each case of straight ahead and when it maintains a fixed point. In previous studies, we have measured the power consumptionofawatermobilerobotwithapoint-symmetric(X-shaped)chassisduringcontinuousstationarymissions and during traveling missions that alternate between stationary and straight-line motions, and have studied efficient motion strategies from a software perspective. Experiments measuring the power consumption during traveling missions showed that the power consumption during straight-line motion was higher than that during fixed-point maintenance missions. Therefore, a transform mechanism was developed to achieve an efficient thruster configuration and shape stability during both fixed-point and straight-line tasks, and the effectiveness of the transform mechanism was verified in real field experiments.
