To provide an underwater robot facilitating robot operation by automating a transfer between the wall surfaces of a rectangular water channel.
The measurement of the roll angle of the underwater robot 2 measured with an inclinometer 5a is fed back to determine a deviation between the measurement of the roll angle and a planned S-shaped roll angle value. A value obtained by multiplying the deviation by a proportional gain K and another value obtained by integrating the deviation and multiplying the integrated value by an integral gain KI are added together and the measurement of the roll angle is time differentiated to determine a deviation between this differentiated value and a planned trapezoidal roll angle velocity value; a value obtained by multiplying this deviation by a differential gain KD is also added to both the value obtained by multiplying the former deviation by the proportional gain and the value obtained by multiplying the integrated value by the integral gain, whereby roll PID control is carried out for determining thrust command values for thrusters 4a, 4b, 4c and 4d. Similarly, floating PID control and landing PID control are carried out according to distance measurements made by an ultrasonic sensor.
WADA HIDETOSHI
NISHIMAE ETSUSHI
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