Development of hovering-type AUV ‘Cyclops’ for ocean environment monitoring and sea trial

摘要

We describe the developed hovering-type AUV called `Cyclops' and sea trial for ocean environment mission. The AUV system was optimally designed for the mission; high maneuverability, versatile sensor configuration, modular type HW/SW system, the unique system structure for multi-sensor management and control of data flow. The sea trial was conducted to estimate the performance of the developed system. In the mission, garbage was found by high-resolution imaging sonar in a turbid environment. In the task, various data such as chemical data were collected along with trajectory of Cyclops.