Title:
自律型水中ロボット及びその制御方法
Document Type and Number:
Japanese Patent JP6905737
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To determine a target path on the basis of a potential map by creating the potential map from a reflection intensity map created by using a scanning sonar.SOLUTION: An autonomous type underwater robot 10 capable of navigating in water in a submerged state includes: a scanning sonar 14 for scanning a prescribed angle range ahead in the navigating direction; a map creator creating a reflection intensity map expressing presence probability of an obstacle on the basis of a measured value by the scanning sonar 14; and a path creator creating a potential map from the reflection intensity map and creating the target path on the basis of the potential map.SELECTED DRAWING: Figure 1
Inventors:
Toshihiro Maki
Keirin Kuranaga
Keirin Kuranaga
Application Number:
JP2017081711A
Publication Date:
July 21, 2021
Filing Date:
April 18, 2017
Export Citation:
Assignee:
National University Corporation Tokyo University
International Classes:
B63C11/00; B63B49/00; B63C11/48; G01S15/89; G01S15/93; G05D1/00
Domestic Patent References:
| JP2008265651A | ||||
| JP7093028A | ||||
| JP2014121927A |
Foreign References:
| CN103077425A | ||||
| US20150192488 |
Other References:
北高穂他,スワス測深を主とした海底地形測量技術について,応用地質技術年報,日本,応用地質株式会社,2003年,No.23,第113頁~第121頁
彌城祐亮他,ポテンシャル法によるロボット製品の障害物回避技術の開発,三菱重工技報,日本,2014年,No.51,第40頁~第45頁
彌城祐亮他,ポテンシャル法によるロボット製品の障害物回避技術の開発,三菱重工技報,日本,2014年,No.51,第40頁~第45頁
Attorney, Agent or Firm:
Toshiaki Aoki
Mamoru Shimizu
Makoto Kawai
Mamoru Shimizu
Makoto Kawai