阿拉伯联合酋长国阿布扎比技术创新研究所最近完成了一辆新的无人面车辆的生产和测试，称为Nukhada，专门用于自主调查，检查和对水下行动的支持。此稿件描述了Nukhada USV的主要特征，以及在开发期间进行的一些试验。
translated by 谷歌翻译
水下操纵是机器人中最卓越的正在进行的研究科目之一。\ acp {i-i-auv}不仅要应对与传统操纵任务相关的技术挑战，而且电流和波浪扰乱车辆的稳定性，以及低光，浑浊的水条件妨碍感知周围环境。当然，动态性质和对海洋环境的有限理解阻碍了水下机器人操纵的自主性能。该手稿讨论了以前的研究和限制因素，施加了对自治水下操纵的长期展示前景，最后突出了有可能提高I-AUV的自治能力的研究方向。
translated by 谷歌翻译
Landing an unmanned aerial vehicle unmanned aerial vehicle (UAV) on top of an unmanned surface vehicle (USV) in harsh open waters is a challenging problem, owing to forces that can damage the UAV due to a severe roll and/or pitch angle of the USV during touchdown. To tackle this, we propose a novel model predictive control (MPC) approach enabling a UAV to land autonomously on a USV in these harsh conditions. The MPC employs a novel objective function and an online decomposition of the oscillatory motion of the vessel to predict, attempt, and accomplish the landing during near-zero tilt of the landing platform. The nonlinear prediction of the motion of the vessel is performed using visual data from an onboard camera. Therefore, the system does not require any communication with the USV or a control station. The proposed method was analyzed in numerous robotics simulations in harsh and extreme conditions and further validated in various real-world scenarios.
translated by 谷歌翻译