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Document Type and Number:
Japanese Patent JP2019055658
Kind Code:
To improve followability to a cruising route.SOLUTION: An underwater moving body 1 is composed to include a state amount detection unit 3, a path storing unit 4, a moving device 5, a communication unit 6, a disturbance information storage unit 7 and a calculating unit 8. When the underwater moving body 1 is positioned at a certain point on a cruising path C, the calculation unit 8 transmits information on a state amount B including information on a position B1 of a self-machine detected by the state amount detection unit 3 from the communication unit 6 to an information providing unit 2. The information providing unit 2 estimates that a destination point that the underwater moving body 1 proceeds to from a certain point on the cruising route C during delay time arising along with sound communication and transmits the information on a speed vector of tide as information A for disturbance at that point. The calculation unit 8 of the underwater moving body 1 determines a control amount on the basis of a compensated target speed vector calculated as a difference between a target speed vector for cruising along the cruising path C and a speed vector of tide received from the information providing unit 2 and commands to the moving device 5.SELECTED DRAWING: Figure 1

吉光 亮
藤井 正和
江本 周平
▲濱▼口 謙一
大野 正夫
Application Number:
Publication Date:
April 11, 2019
Filing Date:
September 20, 2017
Export Citation:
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International Classes:
B63C11/00; B63C11/26; B63C11/48; G05D1/00
Attorney, Agent or Firm:
坂本 光雄

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