自律型3Dプリント水流ジェット推進オープンソース三胴船による環境調査・モニタリング
An Autonomous, 3D Printed, Waterjet-Powered, Open-Source Robotic Trimaran for Environmental Inspection and Monitoring
3Dプリントと市販部品で作られた低コストな自律型三胴船を開発し、浅水域での測深や水質検査、障害物回避の性能を実証した。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Reuben O'Brien, Martin Lambrechtse-Reid, Minas Liarokapis
分類: cs.RO, eess.SY
原文アブストラクト
Versatile, autonomous robotic boats can offer excellent environmental inspection and monitoring solutions for remote, dangerous, hard to reach, or access protected water bodies. This paper introduces such a platform in the form of an autonomous, cost-effective, waterjet-powered robotic trimaran. Motivated by the need for an efficient aquatic monitoring, particularly in Aotearoa - New Zealand's diverse environments, the trimaran provides an efficient, low-cost, and easy to replicate alternative to resource-intensive research vessels. The proposed platform, costs $600-1,500 USD to develop (depending on the sensing system configuration), weighs under 5 kg, and excels in bathymetry and water quality testing. The trimaran can reach speeds of up to 2 m/s offering obstacle avoidance of natural features, such as rocks. Utilizing off-the-shelf components and 3D printing technology, the proposed platform offers excellent reproducibility and robustness while operating in shallow waters with its jet propulsion system. The paper presents in detail the design characteristics, the sensing system employed, testing results focusing on bathymetry, and highlights the ability of vessel and the potential for future research and data collection.