A framework of collaborative simulation for autonomous underwater vehicles

作者：Wang, Zhuo^*; Feng, Xiao Ning; Wan, Lei; Pang, Yong Jie

来源：Journal of Shanghai Jiaotong University, 2012, 46(4): 613-619.

• Autonomous underwater vehicles (AUV)
• Collaborative simulation
• Information transfers
• Movement controlling simulation
• Nonlinear computing
• Simulation reliability
• Software environments
• Software structures

According to the practical application of AUV simulation, collaborative simulation was used to solve these problems. An AUV collaborative simulation architecture and development method was provided. The architecture structure and the information transfer process of the platform were described. And the hydrodynamics collaborative simulation model was also described. Finally, the obstacle avoidance and long voyage simulation test, objects detection and recognition simulation test, and pipes track simulation test were conducted. The tests prove that the collaborative simulation framework can complete the collaborative work between isomerous simulation models in different software environment. And at the same time, it solves the problem that single model can not accurately describe the nonlinear computing. It improves the simulation reliability at a certain extent.

• 出版日期2012
• 单位哈尔滨工程大学