To provide a method of calculating a control quantity of an underwater traveling body with a small calculation volume.SOLUTION: A controller includes a total control quantity calculation unit that calculates a total control quantity representing a control quantity needed to move an underwater traveling body to a target position by using all of plural thrusters included in the underwater traveling body, and an allocation calculation unit that calculates allocations of the control quantity to be incurred by the respective thrusters on the basis of the total control quantity.SELECTED DRAWING: Figure 1
【課題】少ない計算量で水中走行体の制御量を計算する方法を提供する。【解決手段】制御装置は、中走行体を目標位置へ移動するために必要な、前記水中走行体が備える複数のスラスタ全体に対する制御量を示す総制御量を計算する総制御量計算部と、前記総制御量に基づいて、前記複数のスラスタの各々が負担する制御量の配分を計算する配分計算部と、を備える。【選択図】図1
CONTROLLER, UNDERWATER TRAVELING BODY, CALCULATION METHOD, AND PROGRAM
制御装置、水中走行体、計算方法及びプログラム
2022-07-27
Patent
Electronic Resource
Japanese
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