MULTIPLE UNDERWATER ROBOT SYSTEM

作为分布式交通工具的原型，我们介绍了“Twin-Burger”交通工具，它是在Ura的实验室建造的自主水下交通工具，并成功地进行了远程操作。在研制的模拟水下环境的模拟器上对潜水器的性能进行了研究。所开发的远程操作系统提供了车辆运行后的预估图像，使操作人员不受数据传输延迟的影响。一个三车系统，包括一个系绳发射车，一个发射机车，和一个远程操作的非系绳车辆（ROUV），是基于上述“双汉堡”车辆设计的。他们一起潜入目的地附近的一块空地。发射器和ROUV在到达目的地后离开发射器。当到达合理通信的边界时，ROUV离开发射机。发射器自动选择发射器和ROUV之间的最佳位置。利用该系统，我们可以在像沉船这样的复杂地形中进行测量。通过仿真表明，我们可以在大约30分钟内测量20米× 20米× 20米的沉船。因此，多机器人系统可以执行远程操作车辆无法完成的各种任务。

As a prototype distributed vehicle, we introduced the "Twin-Burger" vehicle, which was constructed at Ura's laboratory as an autonomous underwater vehicle, and succeeded in its tele-operatoin. Performance of the vehicle was investigated in the developed simulator which can represent underwater environment. The developed tele-operation system provides an estimated image of the vehicle after operation which make the operator feel free from delay of data transmission.A three vehicle system which consists of a tethered launcher, a transmitter vehicle, and a remotely operaed untethered vehicle (ROUV), was designed based on the above mentioned "Twin-Burger" vehicle. They dive together to an open space near the destination. The transmitter and the ROUV left thelauncher after arriving the destination. When they come to the boundary of reasonable communication, the ROUV leaves the transmitter. Transmitter automatically takes the best position between the launcher and the ROUV.Using this system, we can survey in a complicated topography like a wreck. Through simulation, it was shown that we can survey a wreck of 20m x 20m x 20m in approximately 30 minutes. Thus, the multiple robot system can carry out variety of mission which can never been done by an remotely operated vehicle.