低コスト・オープンソース自律水中ロボットLoCO AUVの設計と実験
Design and Experiments with LoCO AUV: A Low Cost Open-Source Autonomous Underwater Vehicle
100m耐圧で1人で運用できる低コストなオープンソース自律水中ロボットを開発し、Gazeboシミュレータや自律制御、ジェスチャー操作・ダイバー追従などの人間とのインタラクション機能を実装・実証した。
著者: Chelsey Edge, Sadman Sakib Enan, Michael Fulton, Jungseok Hong, Jiawei Mo, Kimberly Barthelemy, Hunter Bashaw, Berik Kallevig, Corey Knutson, Kevin Orpen, Junaed Sattar
分類: cs.RO
原文アブストラクト
In this paper we present LoCO AUV, a Low-Cost, Open Autonomous Underwater Vehicle. LoCO is a general-purpose, single-person-deployable, vision-guided AUV, rated to a depth of 100 meters. We discuss the open and expandable design of this underwater robot, as well as the design of a simulator in Gazebo. Additionally, we explore the platform's preliminary local motion control and state estimation abilities, which enable it to perform maneuvers autonomously. In order to demonstrate its usefulness for a variety of tasks, we implement a variety of our previously presented human-robot interaction capabilities on LoCO, including gestural control, diver following, and robot communication via motion. Finally, we discuss the practical concerns of deployment and our experiences in using this robot in pools, lakes, and the ocean. All design details, instructions on assembly, and code will be released under a permissive, open-source license.
