自主模块化光学水下机器人(AMOUR)的设计、原型及可行性研究

I. Vasilescu, Paulina Varshavskaya, K. Kotay, D. Rus
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引用次数: 64

摘要

提出了一种新型的模块化水下机器人,它可以通过堆叠和解堆叠来实现自重构。该机器人的应用包括水下监测、勘探和监视。我们当前的原型是一个单独的模块,其中包含几个子系统,这些子系统稍后将被分离到不同的模块中。该机器人作为模块化实现中所需要的子系统的测试平台。详细介绍了该系统的模块设计,并对推进子系统、对接子系统和光学测距子系统进行了讨论。实验结果展示了深度控制、线性运动、目标模块检测和对接能力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Autonomous Modular Optical Underwater Robot (AMOUR) Design, Prototype and Feasibility Study
We propose a novel modular underwater robot which can self-reconfigure by stacking and unstacking its component modules. Applications for this robot include underwater monitoring, exploration, and surveillance. Our current prototype is a single module which contains several subsystems that later will be segregated into different modules. This robot functions as a testbed for the subsystems which are needed in the modular implementation. We describe the module design and discuss the propulsion, docking, and optical ranging subsystems in detail. Experimental results demonstrate depth control, linear motion, target module detection, and docking capabilities.
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