发表机构
University of Girona（赫罗纳大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文介绍了售价约5万美元的Mini-Girona I-AUV的设计开发，该机器人集成5-DOF机械臂等组件，在RAMI 2025学生竞赛中获总排名第二，可作为水下机器人研究教育工具。
AI 中文摘要
Mini-Girona 干预自主水下机器人（I-AUV）代表了可及水下机器人技术的进步，旨在弥合昂贵的专用研究型自主水下机器人（AUV）与基础遥控潜水器（ROV）之间的差距。该机器人以经济性和易用性为核心开发，售价约 5 万美元，集成了 5 自由度（5-DOF）机械臂、立体视觉以及 AI 驱动的处理模块，用于自主导航和干预任务。本文介绍了 Mini-Girona 的设计与开发，详细说明了其在 RAMI 2025 学生竞赛中的表现。尽管存在热管理问题和团队访问受限等挑战，Mini-Girona 仍获得了总排名第二的成绩，在基于视觉的感知和干预任务中表现突出。该工作凸显了该平台作为水下机器人研究与教育工具的潜力，可推动实际水下应用领域的创新。
英文摘要
The Mini-Girona Intervention Autonomous Underwater Vehicle (I-AUV) represents an advancement in accessible underwater robotics, designed to bridge the gap between costly, specialized research AUVs and basic Remotely Operated Vehicles (ROVs). Developed with a focus on affordability and usability, the Mini-Girona, priced at approximately $50,000, integrates advanced components such as a 5-DOF manipulator arm, stereo vision, and AI-driven processing for autonomous navigation and intervention tasks. This paper presents the design and development of the Mini-Girona, detailing its performance during the RAMI 2025 student competition. Despite challenges such as thermal management issues and restricted team access, the Mini-Girona achieved second place overall, excelling in vision-based perception and intervention tasks. This work highlights the platform's potential as a tool for underwater robotics research and education, fostering innovation in real-world underwater applications.
Journal refROBOT 2025: Advances in Robotics, Lecture Notes in Networks and Systems, vol. 2044, pp. 543-555 (2027)
DOI：10.1007/978-3-032-30156-7_40
