无人机母舰：用于GNSS拒止海洋环境中自主巡检与干预的一体化无人水面艇
Drone Carrier: An Integrated Unmanned Surface Vehicle for Autonomous Inspection and Intervention in GNSS-Denied Maritime Environment
AI总结：
本文提出一种无人机母舰概念，集成多无人机与无人水面艇，在GNSS拒止环境中实现自主巡检与干预，并在MBZIRC2024中成功演示。
摘要：
本文介绍了一种创新的无人机母舰概念，应用于海上港口安全或近海救援。该系统由一个异构系统组成，包含多架无人机（UAVs）和无人水面艇（USVs），在GNSS拒止或中断的环境中执行巡检和干预任务。该母舰是一艘电动双体船，尺寸为4米×7米，拥有一个4米×6米的甲板，支持四架DJI M300无人机的自动起降，并配备一个可在3级海况下操作的10公斤有效载荷机械臂。利用海上万向节相机进行导航，母舰能够在3平方公里区域内，依靠机载相机、LiDAR和多普勒速度计程仪（DVL）的引导，自主导航、接近并停靠非合作船只。配备机载超宽带（UWB）技术的无人机，使用专为潮湿、盐碱环境设计的通用夹爪执行测绘、检测和操作任务。此外，两架无人机可协同将大型物体运输至机械臂或直接与其互动。这些程序完全自动化，并在穆罕默德·本·扎耶德国际机器人竞赛（MBZIRC2024）中成功展示，其中配备四架无人机和一个机械臂的无人机母舰，基于粗略目标信息，在3级海况（波高1.25米）下自动完成了干预任务。
英文摘要：
This paper introduces an innovative drone carrier concept that is applied in maritime port security or offshore rescue. This system works with a heterogeneous system consisting of multiple Unmanned Aerial Vehicles (UAVs) and Unmanned Surface Vehicles (USVs) to perform inspection and intervention tasks in GNSS-denied or interrupted environments. The carrier, an electric catamaran measuring 4m by 7m, features a 4m by 6m deck supporting automated takeoff and landing for four DJI M300 drones, along with a 10kg-payload manipulator operable in up to level 3 sea conditions. Utilizing an offshore gimbal camera for navigation, the carrier can autonomously navigate, approach and dock with non-cooperative vessels, guided by an onboard camera, LiDAR, and Doppler Velocity Log (DVL) over a 3 km$^2$ area. UAVs equipped with onboard Ultra-Wideband (UWB) technology execute mapping, detection, and manipulation tasks using a versatile gripper designed for wet, saline conditions. Additionally, two UAVs can coordinate to transport large objects to the manipulator or interact directly with them. These procedures are fully automated and were successfully demonstrated at the Mohammed Bin Zayed International Robotic Competition (MBZIRC2024), where the drone carrier equipped with four UAVS and one manipulator, automatically accomplished the intervention tasks in sea-level-3 (wave height 1.25m) based on the rough target information.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
