Autonomous Underwater Vehicle 'R-one Robot' with a Closed Cycle Diesel Engine System for One-Day Surver Construction Sea Trials

摘要

This paper presents the outline of an autonomous underwater free swimming vehicle called "R-one Robot", which equips with an air-independent power (AIP) system of a Closed Cycle Diesel Engine (CCDE) for one-day survey, and the results of its sea trials. In August 1996, sea trials of the Robot were successfully conducted in the Pacific Ocean, about 30km off the shore of Tanabe, Wakayama. In one sea trial, the robot cruised autonomously and stably about 20 km in 4 hours, passing through 6 waypoints in turn of different depth. The maximum diving depth was 150 m.