一种可变形移动机构让水面机器人省电10%，提速5%。
Evaluation of an Autonomous Surface Robot Equipped with a Transformable Mobility Mechanism for Efficient Mobility Control
- 设计可切换的驻泊与巡航模式，提升水面对抗复杂环境的能力。
- 实测显示巡航模式比驻泊模式省电10%，行程快5%。
- 适合长期水域巡检任务，尤其关注能效与续航的场景。
在长期水体环境监测中，自主水面机器人的高效移动与低功耗至关重要。本研究开发并评估了一种可变形移动机构，配备驻泊与巡航两种控制模式，以提升能源效率和机动性。实地实验表明，在两点间往返任务中，巡航模式相比驻泊模式降低10%的能耗，并将总行程时间缩短5%。结果验证了该可变形移动机制在水面巡逻任务中提升运行效率的有效性。
原文摘要 · Abstract (English)
Efficient mobility and power consumption are critical for autonomous water surface robots in long-term water environmental monitoring. This study develops and evaluates a transformable mobility mechanism for a water surface robot with two control modes: station-keeping and traveling to improve energy efficiency and maneuverability. Field experiments show that, in a round-trip task between two points, the traveling mode reduces power consumption by 10\% and decreases the total time required for travel by 5\% compared to the station-keeping mode. These results confirm the effectiveness of the transformable mobility mechanism for enhancing operational efficiency in patrolling on water surface.
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