水面水下协同搜寻系统，提升近海人工目标搜索效率
Coastal Underwater Evidence Search System with Surface-Underwater Collaboration
- 水面艇作指挥中心，拖曳潜航器广域扫描，仿生机器人精细检查
- 实测验证系统可高效定位水下目标，较传统方法更快速可靠
- 适合执法与海上搜救，尤其适用于复杂海岸环境
面向近海水域人工物体搜寻，提出一种水面-水下协同的多机器人系统。该系统由自主水面航行器（作为任务控制中心）、拖曳式水下无人车（用于大范围搜索）和仿生水下机器人（用于目标区域精细化检查）组成。通过池塘环境与近海实地的大量仿真与实验，验证了系统在突破传统潜水员与有缆遥控设备局限性方面的潜力，为执法及打捞作业提供高效、可靠的解决方案。
原文摘要 · Abstract (English)
The Coastal underwater evidence search system with surface-underwater collaboration is designed to revolutionize the search for artificial objects in coastal underwater environments, overcoming limitations associated with traditional methods such as divers and tethered remotely operated vehicles. Our innovative multi-robot collaborative system consists of three parts, an autonomous surface vehicle as a mission control center, a towed underwater vehicle for wide-area search, and a biomimetic underwater robot inspired by marine organisms for detailed inspections of identified areas. We conduct extensive simulations and real-world experiments in pond environments and coastal fields to demonstrate the system potential to surpass the limitations of conventional underwater search methods, offering a robust and efficient solution for law enforcement and recovery operations in marine settings.
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