开源模块化水下机器人框架，让科研人员轻松搭建定制化AUV。
Towards Modular and Accessible AUV Systems
- 模块化软硬件设计，支持快速组装与功能扩展。
- 集成可动推进器与图形化界面，提升操控便捷性。
- 适合水下机器人研究者、高校实验室及工程团队使用。
本文介绍了新开发的开源模块化框架Marine Vehicle Packages（MVP），用于自主水下航行器（AUV）。该框架包含软硬件设计，支持研究人员快速构建具有高定制性和充足载荷能力的AUV。论文展示了可扩展的硬件系统设计和模块化软件架构，并讨论了新型功能，如可动推进器集成与高级图形用户界面。通过仿真与实地实验验证了MVP的性能与兼容性，结果表明其具备良好的实用性与扩展潜力。
原文摘要 · Abstract (English)
This paper reports the development of a new open-access modular framework, called Marine Vehicle Packages (MVP), for Autonomous Underwater Vehicles. The framework consists of both software and hardware designs allowing easy construction of AUV for research with increased customizability and sufficient payload capacity. This paper will present the scalable hardware system design and the modular software design architecture. New features, such as articulated thruster integration and high-level Graphic User Interface will be discussed. Both simulation and field experiments results are shown to highlight the performance and compatibility of the MVP.
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