Duke战队打造新水下机器人Oogway，实现多系统协同与快速迭代。
Oogway: Designing, Implementing, and Testing an AUV for RoboSub 2023
- 模块化设计，各子系统独立开发并深度集成。
- 融合声呐与视觉算法，提升水下环境感知能力。
- 适合工程竞赛团队参考其高效开发流程。
杜克大学机器人俱乐部隆重推出2023年RoboSub竞赛参赛机器人Oogway。Oogway是俱乐部历史上规模最大的一次设计革新，不仅在外观结构上全面升级，还引入了全新的计算机视觉软件、先进的声呐集成、创新的声学硬件处理方案以及改进的立体摄像头系统。整机设计遵循独立、可集成、高可靠性的原则，各组件与子系统均独立测试与开发。其最先进功能源于子系统的紧密协同，例如声呐辅助的视觉算法，以及基于三维模型配置的通用型控制架构。Oogway在两年内成功完成建造与测试，得益于20余名俱乐部成员、杜克工程学院支持者及外部赞助商的共同努力。
原文摘要 · Abstract (English)
The Duke Robotics Club is proud to present our robot for the 2023 RoboSub Competition: Oogway. Oogway marks one of the largest design overhauls in club history. Beyond a revamped formfactor, some of Oogway's notable features include all-new computer vision software, advanced sonar integration, novel acoustics hardware processing, and upgraded stereoscopic cameras. 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 sonar-assisted computer vision algorithms and robot-agnostic controls configured in part through the robot's 3D model. The success of constructing and testing Oogway in under 2 year's time can be attributed to 20+ contributing club members, supporters within Duke's Pratt School of Engineering, and outside sponsors.
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