NAVIGATION CONTROLLING METHOD OF UNDERWATER VEHICLE, AND UNDERWATER VEHICLE

摘要

PROBLEM TO BE SOLVED: To provide a navigation controlling method of a small-sized and inexpensive underwater vehicle and an underwater vehicle, capable of simplifying mounting equipment and control, though a sailing pattern is limited in a circulating sailing around a target object.;SOLUTION: In an autonomous underwater vehicle 10, the underwater vehicle 10 is controlled so as to circulate around the target object O while keeping a predetermined distance r0 from the target object O, from a distance r from the target object O obtained from an underwater position sensor 14 detecting the distance r with the target object O. The predetermined distance r0 is changed according to submerging depth H of the underwater vehicle 10.;COPYRIGHT: (C)2006,JPO&NCIPI