杜克大学机器人俱乐部升级水下机器人Oogway，提升可靠性与功能以通过RoboSub 2024预选赛。
Technical Design Review of Duke Robotics Club's Oogway: An AUV for RoboSub 2024
- 采用模块化设计，各子系统独立开发并深度集成。
- 新增声呐、摄像头、标记投放器等，实现水下自主导航与任务执行。
- 适合关注水下机器人系统集成与工程实践的团队参考。
杜克大学机器人俱乐部隆重推出参加2024年RoboSub竞赛的机器人Oogway。历经一年迭代，Oogway在功能与可靠性上均显著提升。其设计遵循独立、高集成度、高可靠性的原则，各组件与子系统分别测试与设计。关键改进包括重构控制架构、全新电气系统、先进声呐集成、新增摄像头与系统监控、新式标记投放器及防水舱机制。这些优化使Oogway成功预选入RoboSub 2024，展现出成熟的水下自主能力。
原文摘要 · Abstract (English)
The Duke Robotics Club is proud to present our robot for the 2024 RoboSub Competition: Oogway. Now in its second year, Oogway has been dramatically upgraded in both its capabilities and reliability. Oogway was built on the principle of independent, well-integrated, and reliable subsystems. Individual components and subsystems were tested and designed separately. Oogway's most advanced capabilities are a result of the tight integration between these subsystems. Such examples include a re-envisioned controls system, an entirely new electrical stack, advanced sonar integration, additional cameras and system monitoring, a new marker dropper, and a watertight capsule mechanism. These additions enabled Oogway to prequalify for Robosub 2024.
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