发表机构
The University of Auckland（奥克兰大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种低成本、3D打印、喷水推进的自主三体船，用于偏远水域的环境巡检与监测，具备测深和水质测试能力，最高航速2米/秒，具有高可复制性和稳健性。
AI 中文摘要
多功能自主机器人船可为偏远、危险、难以到达或受保护的水体提供出色的环境巡检与监测解决方案。本文介绍了一种自主、经济高效、喷水推进的机器人三体船平台。受高效水生监测需求的驱动，特别是在新西兰奥特亚罗瓦的多样化环境中，该三体船为资源密集型研究船提供了一种高效、低成本且易于复制的替代方案。所提出的平台开发成本为600-1500美元（取决于传感系统配置），重量低于5千克，在测深和水质测试方面表现出色。该三体船最高速度可达2米/秒，并能对岩石等自然特征进行避障。利用现成组件和3D打印技术，所提出的平台在浅水区域运行时可提供出色的可复制性和稳健性，其采用喷水推进系统。本文详细介绍了设计特性、所用传感系统、聚焦于测深的测试结果，并强调了该船的能力以及未来研究和数据收集的潜力。
英文摘要
Versatile, autonomous robotic boats can offer excellent environmental inspection and monitoring solutions for remote, dangerous, hard to reach, or access protected water bodies. This paper introduces such a platform in the form of an autonomous, cost-effective, waterjet-powered robotic trimaran. Motivated by the need for an efficient aquatic monitoring, particularly in Aotearoa - New Zealand's diverse environments, the trimaran provides an efficient, low-cost, and easy to replicate alternative to resource-intensive research vessels. The proposed platform, costs $600-1,500 USD to develop (depending on the sensing system configuration), weighs under 5 kg, and excels in bathymetry and water quality testing. The trimaran can reach speeds of up to 2 m/s offering obstacle avoidance of natural features, such as rocks. Utilizing off-the-shelf components and 3D printing technology, the proposed platform offers excellent reproducibility and robustness while operating in shallow waters with its jet propulsion system. The paper presents in detail the design characteristics, the sensing system employed, testing results focusing on bathymetry, and highlights the ability of vessel and the potential for future research and data collection.
Comments8 pages. Accepted version. Published in the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Finalist for the IROS 2024 Best Application Paper Award
Journal ref2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, 2024, pp. 6359-6366
DOI：10.1109/IROS58592.2024.10801622
