MATSUDA TAKUMI    Department   Undergraduate School  , School of Science and Technology    Position   Senior Assistant Professor
Research Period	2016/04～2018/03
Research Topic	Realization of Cooperative Survey by Multiple AUVs Based on On-site Adaptive Observation Routes
Research Type	KAKENHI Research
Consignor	Japan Society for the Promotion of Science
Research Program Type	Grant-in-Aid for Young Scientists (B)
KAKENHI Grant No.	16K18317
代表分担区分	研究代表者
代表者	MATSUDA Takumi
概要	This work proposed and developed a cooperative survey method by multiple autonomous underwater vehicles (AUVs) to visualize unknown seafloor environments efficiently and accurately. A method for detecting objects of interested based on an acoustic bathymetry map, and a method for generating routes to observe only detected targets using optical sensors in detail and accurately were developed. The methods were implemented in 2 AUVs and verified through tank tests. In addition, cooperative survey with 3 AUVs was conducted in sea environments and the performance of the system was verified. The proposed method contributes to many fields such as resource survey and rescue, as well as science areas like biology and geology.