杜克大学机器人队为罗博赛2026设计双潜器，全链路提升自主能力。
Technical Design Review of Duke Robotics Club's Oogway & Crush: AUVs for RoboSub 2026
- 分系统协同优化：机械、电气、软件全面升级，支持四大任务目标。
- 声学检测可靠性显著提升，新增高阶滤波定制PCB，定位更准。
- 适合关注水下机器人多任务自主的开发者与竞赛团队参考。
杜克大学机器人俱乐部发布用于罗博赛2026的两台自主水下航行器（AUV）Oogway与Crush。本年度策略首次全面覆盖罗博赛四项设计目标：运动、视觉、操作与声学追踪。通过持续投入提升各子系统可靠性，机械上为Crush增加两个推进器并采用计算流体动力学（CFD）优化外壳以增强俯仰稳定性；电气上修复了不可靠连接，升级推进器控制硬件；声学系统重构，新增自研高阶滤波电路板，显著提高信标探测可靠性。软件层面优化状态估计、基于声呐的目标检测、视觉驱动的任务规划及集成视觉控制（IVC），实现更高效自主运行。结合测试基础设施改进，有限试训时间得以最大化利用，可在保障可靠性前提下完成更多复杂任务。
原文摘要 · Abstract (English)
The Duke Robotics Club presents Oogway and Crush, our AUVs for RoboSub 2026. This year's strategy expands on our previously narrowed scope, targeting all four of RoboSub's design goals for the first time: movement, vision, manipulation, and acoustic tracking. This expansion is based on sustained reliability investment across all three subsystems. Mechanically, Crush gained two additional thrusters and a CFD-optimized case, providing pitch stability. Electrically, we addressed accumulated failure points by repairing unreliable connections and upgraded thruster control hardware. We also redesigned our acoustics system, adding a new custom PCB with higher-order filters, significantly improving pinger detection reliability. On the software side, improvements to state estimation, sonar-based object detection, vision-driven task planning, and IVC enable more capable and coordinated autonomous runs. Paired with investments in our testing infrastructure to maximize our limited pool time, we can now attempt a broader set of tasks while maintaining the reliability our competition strategy demands.
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