Prototyping of Automatic Navigation of Underwater Robot for Underwater Visual Inspection

摘要

Underwater robots are expected to support the underwater inspection performed by divers because the number of divers has been decreasing in Japan. To progress the introduction of robots to underwater inspection, we prototyped the automatic navigation system for underwater plies. We modified a commercially available small ROV into an AUV without cable, that hold down the cost. In addition, we investigated the navigation path and prototyped automatic navigation software for piles. Then we conducted a navigation test in a water tank. As the result, we confirmed that the robot was navigated automatically on the planned path and identify issues.