Development of an Underwater Robot for Detecting Shallow Water in a Port

Abstract

Water depth is an important piece of information for the ship navigator when entering the port. However, the depth is not always accurate as indicated in the chart due to tides and sedimentation. This study aimed to develop an underwater robot to easily measure water depth. To measure the water depth at the place where the ship is moored at the quay, this paper proposed the method of measuring the water depth by submerging an underwater robot under the moored ship. Actual sea area experiments indicated the effectiveness of the underwater robot.