Exploration of Underwater volcano Teisi by Autonomous Underwater Vehicle 'R-One Robot'

摘要

This paper presents the exploration of underwater volcano (Teisi Knoll, Ito City, Shizuoka Pref.) by an Autonomous Underwater Vehicle (AUV) "R-One Robot" in October 2000. The "R-One Robot" was launched from the research vessel (R/V) Kaiyo in the scheduled submerging area, autonomously ascertained the direction for diving into the sea, navigated precisely passing through all way points, and lastly, surfaced right on the point as programmed. The robot succeeded in taking acoustics photographs of the crater by Side Scan Sonar on the bottom of the robot.