论文标题
海滨：迈向模块化的多功能人携带的AUV
SeaShark: Towards a Modular Multi-Purpose Man-Portable AUV
论文作者
论文摘要
在这项工作中，我们介绍了Seashark Auv：一个模块化，易于配置的单人便携式Micro-Auv。海滨auv被认为是围绕中央主管的模块化零件，可容纳电池和其他重要零件。头部单元包括易于振奋，可堆叠和360度可旋转的有效载荷部分，以快速获得许多目标的合适配置。我们采用导航，而不是关于某些众所周知的结构的死亡估算或相对导航，因此旨在针对不需要高度准确的地理参考数据点的水下活动。操作围墙AUV仅需要车辆本身和平板电脑来进行任务计划和MESISS后审查。我们已经建立了几个完整的海滨系统，并开始探索研究和商业用途的许多可能性和用例。在这里，我们介绍了我们的AUV和运营原则的全面概述和介绍，并进一步展示了用于海岸到海上生物途径映射的实验操作的数据示例
In this work, we present the SeaShark AUV: a modular, easily configurable, one-man portable micro-AUV. The SeaShark AUV is conceived as modular parts that fit around a central main tube, which holds battery and other vital parts. The head unit comprises easy exhangeable, stackable, and 360 degree rotatable payload sections to quickly obtain a suitable configuration for many objectives. We employ navigation no better than dead reckoning or relative navigation with respect to some well-known structure, and thus aim at underwater activities that do not require highly accurate geo-referenced data-points. Operating the SeaShark AUV requires only the vehicle itself and a tablet for mission planning and post-mission review. We have built several complete SeaShark systems and have begun exploring the many possibilities and use-cases in both research and commercial use. Here we present a comprehensive overview and introduction to our AUV and operation principles, and further show data examples for experimental operations for shore-to-sea bio-habitat mapping and in-harbor wall and pier inspection
