Development of Self-Diagnosis System of an Autonomous Underwater Vehicle Tuna-Sand 2

DOI オープンアクセス
  • Sonoda Takashi
    Dept. of Human Intelligence Systems, Kyushu Institute of Technology
  • Fujii Naoya
    Dept. of Human Intelligence Systems, Kyushu Institute of Technology
  • Nishida Yuya
    Dept. of Human Intelligence Systems, Kyushu Institute of Technology
  • Ishii Kazuo
    Dept. of Intelligence Systems, Kyushu Institute of Technology

説明

For autonomous underwater vehicle (AUV), high autonomy is required in order to accomplish mission such as inspection, observation, manipulation under extreme environments, deep-ocean. One of necessary function for AUV is the self-diagnosis system to detect the abnormality can be said to be an important feature. In this paper, we propose a self-diagnostic system using the dynamical model of Sampling-AUV "TUNASAND2", where the fault device detection is carried out using the model, and evaluated through tank tests.

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キーワード

詳細情報 詳細情報について

  • CRID
    1390001288142740864
  • DOI
    10.5954/icarob.2017.os7-4
  • ISSN
    21887829
  • 本文言語コード
    en
  • データソース種別
    • JaLC
    • Crossref
    • OpenAIRE
  • 抄録ライセンスフラグ
    使用不可

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