| Project/Area Number |
16K18317
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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 |
Matsuda Takumi 東京大学, 生産技術研究所, 特任研究員 (80759861)
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| Project Period (FY) |
2016-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| Budget Amount *help |
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2017: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Fiscal Year 2016: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Keywords | 自律型海中ロボット / マルチロボット / 協調 / 海底探査 / AUV / 地形計測 |
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| Outline of Final Research Achievements |
This work proposed and developed a cooperative survey method by multiple autonomous underwater vehicles (AUVs) to visualize unknown seafloor environments efficiently and accurately. A method for detecting objects of interested based on an acoustic bathymetry map, and a method for generating routes to observe only detected targets using optical sensors in detail and accurately were developed. The methods were implemented in 2 AUVs and verified through tank tests. In addition, cooperative survey with 3 AUVs was conducted in sea environments and the performance of the system was verified. The proposed method contributes to many fields such as resource survey and rescue, as well as science areas like biology and geology.
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