杜克机器人俱乐部的Oogway和Crush：用于2026年RoboSub的自主水下航行器技术设计回顾
Technical Design Review of Duke Robotics Club's Oogway & Crush: AUVs for RoboSub 2026
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中文总结 AI 辅助
杜克机器人俱乐部为2026年RoboSub设计的自主水下航行器Oogway和Crush，通过对机械、电气、软件子系统的改进及测试设施投资，扩展策略覆盖RoboSub四个设计目标，实现更广泛任务尝试并保持可靠性。
中文摘要 AI 辅助
杜克机器人俱乐部展示了用于2026年RoboSub的自主水下航行器Oogway和Crush。今年的策略在之前缩小的范围基础上进行了扩展，首次针对RoboSub的四个设计目标：移动、视觉、操作和声学跟踪。这种扩展基于对所有三个子系统持续的可靠性投资。机械方面，Crush增加了两个推进器并采用CFD优化外壳以提供俯仰稳定性；电气方面，修复不可靠连接并升级推进器控制硬件来解决故障点，还重新设计声学系统，添加带高阶滤波器的新定制印刷电路板，显著提高信标检测可靠性。软件方面，对状态估计、基于声纳的目标检测、视觉驱动任务规划和智能视频通信进行改进，实现更强大、协调的自主运行。再加上对测试基础设施的投资，在保持竞争策略所需可靠性的同时，现在可以尝试更广泛的任务。
英文摘要
The Duke Robotics Club presents Oogway and Crush, our AUVs for RoboSub 2026. This year's strategy expands on our previously narrowed scope, targeting all four of RoboSub's design goals for the first time: movement, vision, manipulation, and acoustic tracking. This expansion is based on sustained reliability investment across all three subsystems. Mechanically, Crush gained two additional thrusters and a CFD-optimized case, providing pitch stability. Electrically, we addressed accumulated failure points by repairing unreliable connections and upgraded thruster control hardware. We also redesigned our acoustics system, adding a new custom PCB with higher-order filters, significantly improving pinger detection reliability. On the software side, improvements to state estimation, sonar-based object detection, vision-driven task planning, and IVC enable more capable and coordinated autonomous runs. Paired with investments in our testing infrastructure to maximize our limited pool time, we can now attempt a broader set of tasks while maintaining the reliability our competition strategy demands.
发表机构
- Duke Robotics Club（杜克大学机器人俱乐部）
机构由 AI 辅助整理，请以论文原文为准。
