Positioning system for motion control of underwater robot with sensor network

2015 Fiscal Year Final Research Report

• Project/Area Number: 24560986
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Naval and maritime engineering
• Research Institution: Tokyo University of Marine Science and Technology
• Principal Investigator: Zhang Feifei 東京海洋大学, その他部局等, 教授 (10226293)
• Co-Investigator(Renkei-kenkyūsha): Watanabe Yoshitaka 海洋研究開発機構, 海洋工学センター, 研究員 (40359138)
• Project Period (FY): 2012-04-01 – 2016-03-31
• Keywords: 水中ロボット / 音響測位 / 伝搬減衰 / センサーネットワーク / GPS / タイムリバーサル通信

Outline of Final Research Achievements

We developed a new positioning system for under water robot which has easy operation and high accuracy. The principal is depending on a following fact that a power of sound decrease with distance of transition so we can know the distance between sauce and receiver with measuring difference of power of sound. When robot send a sound of constant amplitude and frequency, and measure the sound at a station, we can get the distance between robot and station. With using at least four(4) stations which are floated at surface of water and the position are measured with GPS, we can decide the robot position with 1% of accuracy in the field of 1km square. With accepting this position data, autonomous robot can complete his mission precisely.

Free Research Field

制御工学