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This paper introduces QuadBoat, a bio-inspired unmanned surface vehicle designed specifically for water rescue operations, which utilizes a quadrupedal configuration for enhanced maneuverability. The vehicle employs an inverse kinematics-based controller alongside a cascaded model predictive control (MPC)-PID controller to achieve precise tracking and retrieval of victims from water surfaces. Experimental results demonstrate QuadBoat's agility and accuracy in both tracking and object retrieval tasks, confirming its potential effectiveness in real-world rescue scenarios.
QuadBoat's innovative quadrupedal design enables unprecedented agility and precision in water rescue missions, setting a new standard for unmanned surface vehicles.
Prompt extraction of victims from water is crucial in water surface rescue missions. However, previous research on rescue robots has seldom addressed this issue. This paper presents QuadBoat, a bio-inspired unmanned surface vehicle (USV) designed to track and retrieve victims from water. QuadBoat features a quadrupedal robot configuration, enabling it with highly adaptable and agile maneuverability through its actively adjustable posture. Employing an inverse kinematics-based controller and cascaded model predictive control (MPC)-PID controller for overall movement, QuadBoat can accurately track and retrieve objects on the water surface. Maneuverability demonstrations validate QuadBoat's high agility, while a series of tracking experiments, including leg action tracking and trajectory tracking, confirm its high motion accuracy and system mobility. Finally, visual-based tracking and object pickup experiments further verify QuadBoat's target tracking capabilities and its effectiveness in executing rescues, both indoors and outdoors.