To have an underwater navigation body with autonomous navigation suitably approach another object.SOLUTION: An underwater navigation body being an underwater navigation body carrying out autonomous navigation includes: a three-dimensional active sonar for outputting sound waves toward an object and receiving reflection waves of the sound waves from the object; a position information acquirement unit for acquiring information on a position and an orientation of the object based on the reflection waves received by the three-dimensional active sonar; a route generation unit for generating an approach route for approaching the object based on the information on the position and the orientation of the object; and a movement control unit for navigating the underwater navigation body according to the approach route.SELECTED DRAWING: Figure 1
【課題】自律航行する水中航行体を、他の物体に適切にアプローチさせる。【解決手段】水中航行体は、自律航行する水中航行体であって、対象物に向けて音波を出力し、対象物からの音波の反射波を受信する三次元アクティブソーナーと、三次元アクティブソーナーが受信した反射波に基づき、対象物の位置及び向きの情報を取得する位置情報取得部と、対象物の位置及び向きの情報に基づいて対象物にアプローチするアプローチ経路を生成する経路生成部と、アプローチ経路に従って水中航行体を航行させる移動制御部と、を含む。【選択図】図1
UNDERWATER NAVIGATION BODY, UNDERWATER NAVIGATION SYSTEM, CONTROL METHOD FOR UNDERWATER NAVIGATION BODY, AND PROGRAM
水中航行体、水中航行システム、水中航行体の制御方法、及びプログラム
2021-12-27
Patent
Electronic Resource
Japanese
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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