# “QuadBoat”的设计与控制：用于溺水救援的四足水面航行器

> 原文链接：https://robotics.hellobike.com/papers/2026-07-15-2607-13633
> 频道：papers | 更新日期：2026-07-15 | 标签：arxiv, cs.RO
> 核心摘要：针对水面救援中快速救捞溺水者的需求，提出仿生无人水面航行器QuadBoat，通过相关实验验证其救援执行有效性。

# “QuadBoat”的设计与控制：用于溺水救援的四足水面航行器

::: v-pre
> 原文链接：[Design and Control of the "QuadBoat": A Quadruped Surface Vehicle for Drowning Rescue](https://arxiv.org/abs/2607.13633)（arXiv 2607.13633 · 发布日期：2026-07-15）

**Design and Control of the "QuadBoat": A Quadruped Surface Vehicle for Drowning Rescue**

针对水面救援中快速救捞溺水者的需求，提出仿生无人水面航行器QuadBoat，通过相关实验验证其救援执行有效性。

## 核心要点

- 现有救援机器人研究鲜有涉及水面快速救捞溺水者的实际场景需求
- QuadBoat采用四足机器人构型，可通过主动调节姿态获得高适应性与机动性
- 采用逆运动学控制器与级联MPC-PID控制器实现水面目标的精准跟踪与打捞
- 通过机动性演示、跟踪实验及视觉救捞实验验证了其运动性能与救援有效性

**验证范围与局限**：仅在室内外场景通过机动性演示、跟踪实验及视觉救捞实验验证效果，未开展真实溺水救援场景验证。

## 英文摘要 (Abstract)

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.

作者：Lianxin Zhang, Yihan Huang, Huihuan Qian
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## 原始参考来源 (Sources)

- [arXiv 2607.13633：Design and Control of the "QuadBoat": A Quadruped Surface Vehicle for Drowning Rescue](https://arxiv.org/abs/2607.13633)