Development of control algorithms for underwater cooperative task using multi ROVs

2019 Fiscal Year Final Research Report

• Project/Area Number: 17K08029
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Agricultural environmental engineering/Agricultural information engineering
• Research Institution: Iwate University
• Principal Investigator: Miyoshi Tasuku 岩手大学, 理工学部, 教授 (10392193)
• Project Period (FY): 2017-04-01 – 2020-03-31
• Keywords: 水中ロボット / 協調作業 / 協調制御 / マルチロボット

Outline of Final Research Achievements

It is difficult to communicate the status of each other in an underwater environment when multiple robots work in cooperation. In this study, it was clarified experimentally that cooperative control can be achieved by autonomously executing the assigned scenario without having each robot's status. The results suggested that the accuracy of cooperative control would be further improved by learning the situation during work execution in real time and tuning the feedback gain itself. In addition, it became clear that an observer robot should be required to monitor the work status.

Free Research Field

ロボット工学

Academic Significance and Societal Importance of the Research Achievements

複数台のロボットを協調させて作業を行わせるとき、水中環境ではお互いのステータスを通信することが困難である。そこで、各ロボットの作業内容は互いに持つことなく、割り当てられたシナリオを自律遂行することで協調制御が達成されることを実験的に明らかにした。この成果をベースとし、さらに複雑な作業を実施できるようにすることで、極限環境下での作業を遂行する協調ロボットシステムの構築が可能となる。