论文标题
Loco Auv的设计和实验：低成本开源自动驾驶水下车辆
Design and Experiments with LoCO AUV: A Low Cost Open-Source Autonomous Underwater Vehicle
论文作者
论文摘要
在本文中，我们提出了loco auv，这是一种低成本的开放自动水下车辆。 Loco是一种通用，单人剥离的，视觉引导的AUV，额定为100米的深度。我们讨论了该水下机器人的开放且可扩展的设计，以及凉亭中模拟器的设计。此外，我们还探讨了该平台的初步本地运动控制和状态估计能力，从而使其能够自动执行操作。为了证明其对各种任务的有用性，我们在机车上实施了各种先前呈现的人类机器人相互作用功能，包括通过运动进行手势控制，潜水员跟随和机器人通信。最后，我们讨论了部署的实际问题以及我们在泳池，湖泊和海洋中使用该机器人的经验。所有设计详细信息，关于组装的说明和代码将根据允许的开源许可发布。
In this paper we present LoCO AUV, a Low-Cost, Open Autonomous Underwater Vehicle. LoCO is a general-purpose, single-person-deployable, vision-guided AUV, rated to a depth of 100 meters. We discuss the open and expandable design of this underwater robot, as well as the design of a simulator in Gazebo. Additionally, we explore the platform's preliminary local motion control and state estimation abilities, which enable it to perform maneuvers autonomously. In order to demonstrate its usefulness for a variety of tasks, we implement a variety of our previously presented human-robot interaction capabilities on LoCO, including gestural control, diver following, and robot communication via motion. Finally, we discuss the practical concerns of deployment and our experiences in using this robot in pools, lakes, and the ocean. All design details, instructions on assembly, and code will be released under a permissive, open-source license.
