ヤノウ　アキラ   Akira Yanou   矢納　陽    所属   川崎医療福祉大学  医療技術学部 診療放射線技術学科    職種   教授
言語種別	日本語
発表タイトル	ビジュアルサーボを搭載した水中ロボットの 3 次元位置・姿勢制御
会議名	ロボティクス・メカトロニクス講演会2015
学会区分	全国規模の学会
発表形式	ポスター掲示
講演区分	一般
発表者・共同発表者	◎米森健太, 大西祥太, 藤本勝樹, 見浪護, 矢納陽, 石山新太郎
発表年月日	2015/05
開催地 （都市, 国名）	京都, 日本
概要	An underwater vehicle system based on visual servoing technology with binocular wide-angle lens was developed to decontaminate radiation from mud in dam lake, river, regulation pond, sea and storage reservoirs in FUKUSHIMA. A real-time pose detection of target object through binocular camera system utilizing Genetic Algorithm(GA) for underwater vehicle is used, which is combined with servo controller, enabling to enhance stability performance of the vehicle's pose relative to 3D marker. The following results were derived: (1) The robustness of the proposed regulator system has been verified by exerting abrupt disturbance. (2) A robust stability for 3D pose control in visual servoing process was confirmed. This visual servoing experiment to regulate the pose of Autonomous Underwater Vehicle(AUV) is aimed at developing an AUV system to have the vehicle recharge batteries on it to continue decontamination work under the sea without being interrupted by returning to ship and recharging.