Development of Remotely Operated Vehicle for Small-size Jellyfish Extermination and its Evaluation of Extermination Motion Control

摘要

In recent years, increase in the number of jellyfish has caused damage in the fishery and tourism industries. Therefore, the extermination work of jellyfish is being carried out by human hands. However, conventional methods for extermination are required a lot of time and manpower. In this paper, we propose a method for extermination work of jellyfish using underwater robot. Also, we introduce developed ROV type underwater robot, which is called J.E.N.O.S.(Jellyfish Extermination Nifty-robot for Ocean Sustentation), and its extermination motion control. The ROV is developed in consideration of the attitude control during the extermination operation. Because, the attitude, such as surge and pitch angle, of ROV becomes unstable when performing jellyfish extermination. Therefore, we equipped 8 thrusters to improve attitude stability during the jellyfish extermination. As a result, surge acceleration is reduced to about 30.0%, and pitch angle velocity is reduced to about 25.8%.