开源低成本水下机器人MeCO，支持人机交互与智能控制。
Design and Development of the MeCO Open-Source Autonomous Underwater Vehicle
- 模块化设计，软硬件全开源，可自由扩展
- 配备显示、声光通信与立体视觉系统，专注人机交互
- 支持边缘实时推理，适合科研与教学使用
我们提出MeCO，一种中等成本的开源自主水下航行器（AUV），旨在支持水下人机交互（UHRI）及海洋机器人领域的研究与开发。相比同类高性能AUV，MeCO构建成本低廉，其软硬件均采用开源许可，具备高性价比、可扩展性和开放性。设备集成面向UHRI的系统，包括前后及侧向显示屏、基于光的通信装置、用于声学交互的换能器以及立体视觉系统，同时具备常规的感知与执行组件。此外，MeCO可利用最新边缘计算设备实现实时深度学习推理，同时通过高性能微控制器保持低延迟闭环控制。其设计从底层即注重内部电子、外部载荷和软件架构的模块化，充分利用开源机器人生态与容器化工具。我们在模拟环境、封闭水域及开放水域中展示了MeCO的多样化能力。所有构建与运行所需资源，包括软硬件设计，均已公开可用。
原文摘要 · Abstract (English)
We present MeCO, the Medium Cost Open-source autonomous underwater vehicle (AUV), a versatile autonomous vehicle designed to support research and development in underwater human-robot interaction (UHRI) and marine robotics in general. An inexpensive platform to build compared to similarly-capable AUVs, the MeCO design and software are released under open-source licenses, making it a cost effective, extensible, and open platform. It is equipped with UHRI-focused systems, such as front and side facing displays, light-based communication devices, a transducer for acoustic interaction, and stereo vision, in addition to typical AUV sensing and actuation components. Additionally, MeCO is capable of real-time deep learning inference using the latest edge computing devices, while maintaining low-latency, closed-loop control through high-performance microcontrollers. MeCO is designed from the ground up for modularity in internal electronics, external payloads, and software architecture, exploiting open-source robotics and containerarization tools. We demonstrate the diverse capabilities of MeCO through simulated, closed-water, and open-water experiments. All resources necessary to build and run MeCO, including software and hardware design, have been made publicly available.
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