低成本水下机器人在竞赛中表现优异，推动科研与教育普及。
Advancing Accessible Underwater Robotics: The Mini-Girona I-AUV at RAMI 2025
- 设计可负担的自主水下机器人，集成机械臂与视觉系统。
- 参赛获第二名，视觉感知与干预任务表现突出。
- 适合高校科研与教学，降低水下机器人应用门槛。
Mini-Girona干预型自主水下机器人（I-AUV）是面向可及性水下机器人的一次进步，旨在弥合昂贵专业研究型AUV与基础遥控潜水器（ROV）之间的差距。该机器人造价约5万美元，集成了5自由度机械臂、立体视觉系统和基于AI的自主导航与作业处理能力。本文介绍了Mini-Girona的设计与开发过程，并报告其在RAMI 2025学生竞赛中的表现。尽管面临热管理问题及团队访问受限等挑战，它仍获得总成绩第二名，在基于视觉的感知与干预任务中表现优异。该工作展示了该平台在水下机器人科研与教育领域的潜力，有助于推动真实场景下的水下技术创新。
原文摘要 · Abstract (English)
The Mini-Girona Intervention Autonomous Underwater Vehicle (I-AUV) represents an advancement in accessible underwater robotics, designed to bridge the gap between costly, specialized research AUVs and basic Remotely Operated Vehicles (ROVs). Developed with a focus on affordability and usability, the Mini-Girona, priced at approximately $50,000, integrates advanced components such as a 5-DOF manipulator arm, stereo vision, and AI-driven processing for autonomous navigation and intervention tasks. This paper presents the design and development of the Mini-Girona, detailing its performance during the RAMI 2025 student competition. Despite challenges such as thermal management issues and restricted team access, the Mini-Girona achieved second place overall, excelling in vision-based perception and intervention tasks. This work highlights the platform's potential as a tool for underwater robotics research and education, fostering innovation in real-world underwater applications.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。