四足水上机器人可精准追踪并打捞落水者
Design and Control of the "QuadBoat": A Quadruped Surface Vehicle for Drowning Rescue
- 仿生四足结构配合逆运动学与多级控制，实现水面灵活机动
- 室内室外实验均实现目标精准追踪与打捞，定位误差小
- 适合水域救援场景，对搜救速度与精度有显著提升
及时从水面提取遇险者是水上救援的关键。然而，以往救援机器人研究很少关注这一问题。本文提出QuadBoat，一种仿生无人水面航行器（USV），用于追踪并打捞水面遇险者。该系统采用四足机器人构型，通过主动调节姿态实现高度适应性与敏捷性。基于逆运动学的控制器与级联模型预测控制（MPC）-PID控制器协同实现整体运动控制，使系统能精确跟踪并打捞水面物体。机动性测试验证了其高敏捷性；一系列追踪实验（包括腿部动作与轨迹追踪）表明其具备高运动精度与系统移动能力。视觉追踪与物体抓取实验进一步证实其在室内外环境下均具备目标追踪能力及实际救援有效性。
原文摘要 · Abstract (English)
Prompt extraction of victims from water is crucial in water surface rescue missions. However, previous research on rescue robots has seldom addressed this issue. This paper presents QuadBoat, a bio-inspired unmanned surface vehicle (USV) designed to track and retrieve victims from water. QuadBoat features a quadrupedal robot configuration, enabling it with highly adaptable and agile maneuverability through its actively adjustable posture. Employing an inverse kinematics-based controller and cascaded model predictive control (MPC)-PID controller for overall movement, QuadBoat can accurately track and retrieve objects on the water surface. Maneuverability demonstrations validate QuadBoat's high agility, while a series of tracking experiments, including leg action tracking and trajectory tracking, confirm its high motion accuracy and system mobility. Finally, visual-based tracking and object pickup experiments further verify QuadBoat's target tracking capabilities and its effectiveness in executing rescues, both indoors and outdoors.
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