| Project/Area Number |
15K18291
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Naval and maritime engineering
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| Research Institution | The University of Tokyo |
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Principal Investigator |
Sato Yoshiki 東京大学, 生産技術研究所, 特任研究員 (90635210)
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| Project Period (FY) |
2015-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2016: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2015: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
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| Keywords | 海洋工学 / 海洋探査 / 自律型海中ロボット / ロボットナビゲーション / Path Re-planning Method |
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| Outline of Final Research Achievements |
In general, observed image by AUVs (Autonomous Underwater Vehicles) can not be confirmed until the AUVs are recovered. It is because underwater communication devices are too low speed to send observed data. In this study, the proposed method realizes high-coverage observation in one dive. In order to reduce the calculation cost of CPU in AUV, proposed system was created as hardware modules to cooperate with the CPU. The hardware based on GPU (Graphics Processing Units). We confirmed that the system can generate high-coverage path automatically within realistic ship time in an area of 1,000 square meters.
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