Path Following Control System of Line-of-Sight Guidance for Robotic Dolphin with Multi-Link Mechanism in Underwater Simulator
2026-05-25 • Robotics
Robotics
AI summaryⓘ
The authors developed a system to help biomimetic underwater robots with many moving parts follow a set path automatically during tasks like observing aquatic life or surveying the environment. Because these robots have different designs, the authors used simulations to create and test a path following system tailored to their specific movements. Their results show that the system can be designed effectively in simulation, with parameters adjusted for better control underwater. This work helps improve how such robots navigate in water without needing manual control.
Biomimetic autonomous underwater vehiclemulti-link mechanismpath following systemunderwater simulationrobot controlaquatic observationenvironmental surveyparameter tuningmaneuverability
Authors
Takumi Asada, Takao Oki, Hideo Furuhashi, Kenta Tabata, Renato Miyagusuku, Koichi Ozaki
Abstract
Biomimetic autonomous underwater vehicle (BAUV) with multi-link mechanism is widely used in aquatic life observation and environmental surveys due to its low power consumption and high maneuverability. An environmental survey requires a path following system that automatically follows specific points. However, the path following system of BAUV is limited, and its evaluation with multi-link mechanism robots has not yet been clarified. The path following system in BAUV requires prior simulation because the model differs depending on the type of biomimetics. In this study, we propose a path following system for BAUVs with a multi-link mechanism and evaluation in underwater simulation. In this result, it was possible to design a path following system suitable for BAUV, determine parameters using a simulator, and evaluate control methods.