Construction of Guidance and Control System and GUI of an Autonomous Underwater Robot SOTAB-I

Heavy disasters of oil spill bring enormous damage on the ocean environment as well as regional economies. To know when, where and how much the spilled oil and gas float up on the sea surface, and where the floating oil on the sea surface drift ashore, we need information of advection, diffusion and dispersion of underwater oil and gas, and its prediction. This paper describes the guidance and control system and GUI of the underwater robot SOTAB-I (SOTAB; Spilled Oil Tracking Autonomous Buoy) that tracks spilled oil autonomously and gathers oceanographic data.