发表机构
Indian Institute of Science Education and Research Bhopal（印度科学教育与研究学院博帕尔分校）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出低成本自主水面航行器EcoBoat，采用改进船体与特斯拉阀式收集篮，结合超声波或GPS传感与随机游走策略，在泳池和湖泊实验中验证了极简感知计算方案可有效收集漂浮垃圾。
AI 中文摘要
清理游泳池和湖泊等水体通常需要大量人工劳动，或依赖成本高昂、传感器密集的机器人系统。本文介绍了EcoBoat，一种基于改进船体的低成本自主水面航行器，旨在收集室内和室外水体中的漂浮垃圾。在室内环境中，EcoBoat使用超声波传感器检测边界和障碍物，将随机游走运动与边界跟随行为相结合。在室外环境中，它依赖基于GPS的电子围栏配合随机游走策略进行区域覆盖。一个关键设计特点是受特斯拉阀启发的收集篮，该篮允许在前进运动中吸入垃圾，同时防止其在转弯或制动时逃逸。在泳池和湖泊中的现场实验通过迭代改进验证了设计，证明极简的传感和计算方法能够在各种水体中实现有效且多功能的垃圾收集。
英文摘要
Cleaning water bodies such as swimming pools and lakes typically demands significant manual effort or reliance on costly, sensor-intensive robotic systems. This paper presents EcoBoat, a low-cost autonomous surface vehicle built on a modified hull, designed to collect floating debris in both indoor and outdoor water bodies. For indoor environments, EcoBoat uses ultrasonic sensors to detect boundaries and obstacles, combining random-walk motion with boundary-following behavior. For outdoor environments, it relies on GPS-based geofencing paired with a random-walk strategy for area coverage. A key design feature is a Tesla-valve-inspired collection basket that allows debris intake during forward motion while preventing its escape during turning or braking. Field experiments in pools and lakes validated the design through iterative refinement, demonstrating that a minimalist sensing and computation approach can achieve effective, versatile debris collection across diverse water bodies.
