実環境における変形移動機構を備えた小型水上自律移動ロボットの巡回移動戦略評価

抄録

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.