Underwater navigation, underwater navigation system, underwater navigation control method, and program

摘要

PROBLEM TO BE SOLVED: To appropriately approach another object by an underwater navigating body which sails autonomously. An underwater navigator is an underwater navigator that navigates autonomously, and is a three-dimensional active sonar that outputs sound waves toward an object and receives reflected waves of sound waves from the object, and a three-dimensional active sonar. A position information acquisition unit that acquires information on the position and orientation of the object based on the reflected wave received by, and a route generation unit that generates an approach path that approaches the object based on the information on the position and orientation of the object. , Includes a movement control unit that navigates the underwater navigator according to the approach route. [Selection diagram] Fig. 1