Development of an underwater robot for researching of underwater environmental

摘要

Surveying underwater and/or undersea environments are necessary to perform the stable fisheries and resource managements. To achieve this survey in the shallow sea, divers should swim in this area against the turbulence and the unstable buoyancy. However, it is a big burden for divers to investigate in the shallow survey area, since the turbulence would occur in these environments. We have been trying to develop an underwater robot system, which performs the underwater environment investigation on behalf of the diver, to reduce the risk and burden of the diver. In this paper, we would demonstrate our ROV and the results of the heave motion control characteristics based on the PID control theorem.