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首页> 外文会议>2002 Unmanned systems: the world's largest unmanned systems symposium and exhibition (AUVSI proceedings) >The Barracuda Project Building an efficient reliable platform for underwater operations
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The Barracuda Project Building an efficient reliable platform for underwater operations

机译：梭子鱼项目为水下作业构建高效可靠的平台

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The AVHS Barracuda is a fully autonomous underwater vehicle platform, developed forrnthe Fifth International Autonomous Underwater Vehicle Competition The vehicle has a mass ofrn30 kg and fits within a 52x32x14?” box, small enough to place in the back seats of most cars.rnFour engines provide propulsion: two laterally-mounted to control speed and heading, and twornvertically-mounted to control pitch and depth. The vehicle includes a full suite of externalrnsensory systems, including an active sonar altimeter, a 3-axis compass with 50 degrees ofrnpitch/roll range, a side-scanning active sonar system with a 90 degree scan range, a waterrnpressure sensor, and a camera. Additionally, the system has a suite of self-diagnostic modules,rnincluding five water alarms, several internal temperature sensors, and a software integrityrnchecker to verify the data coming from the various systems.rnAutonomous control is provided by a single-board computer running Linux. Therncomputer is the center of the vehicle, individually linked to each sub system and is in charge ofrnall autonomous control. Furthermore, the system is designed to be as robust as possible, as it canrnfunction even in the absence of many of the external sensors. The challenge of any engineeringrnproject is to piece together efficient and reliable pre-existing subsystems, but to neverthelessrnproduce something novel; Barracuda rises to that challenge.
机译：AVHS Barracuda是为第五届国际自主水下航行器比赛而开发的全自动水下航行器平台，该车辆的重量为30公斤，可容纳在52x32x14的范围内？”盒子，小到可以放到大多数汽车的后座上。四个引擎提供推进力：两个侧面安装以控制速度和方向，两个垂直安装以控制俯仰和深度。该车辆包括全套外部传感系统，包括有源声纳高度计，50度俯仰/侧倾范围的3轴罗盘，具有90度扫描范围的侧扫有源声纳系统，水压传感器和摄像头。此外，该系统还具有一套自我诊断模块，包括五个水位警报器，几个内部温度传感器和一个软件完整性检查器，以验证来自各个系统的数据。自动化控制由运行Linux的单板计算机提供。计算机是车辆的中心，分别链接到每个子系统，并负责所有的自主控制。此外，即使在没有许多外部传感器的情况下，该系统也可设计成尽可能强大的功能。任何工程项目的挑战都是将高效且可靠的现有子系统组合在一起，但仍要产生一些新颖的东西。梭子鱼迎接了这一挑战。

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