Oogway: Designing, Implementing, and Testing an AUV for RoboSub 2023
Oogway: Designing, Implementing, and Testing an AUV for RoboSub 2023
著者: Will Denton, Lilly Chiavetta, Michael Bryant, Vedarsh Shah, Rico Zhu, Ricky Weerts, Phillip Xue, Vincent Chen, Hung Le, Maxwell Lin, Austin Camacho, Drew Council, Ethan Horowitz, Jackie Ong, Morgan Chu, Alex Pool
分類: cs.RO
原文アブストラクト
The Duke Robotics Club is proud to present our robot for the 2023 RoboSub Competition: Oogway. Oogway marks one of the largest design overhauls in club history. Beyond a revamped formfactor, some of Oogway's notable features include all-new computer vision software, advanced sonar integration, novel acoustics hardware processing, and upgraded stereoscopic cameras. Oogway was built on the principle of independent, well-integrated, and reliable subsystems. Individual components and subsystems were tested and designed separately. Oogway's most advanced capabilities are a result of the tight integration between these subsystems. Such examples include sonar-assisted computer vision algorithms and robot-agnostic controls configured in part through the robot's 3D model. The success of constructing and testing Oogway in under 2 year's time can be attributed to 20+ contributing club members, supporters within Duke's Pratt School of Engineering, and outside sponsors.