Application of Virtual Reality to Bottom Tracking of Autonomous Underwater Vehicle
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摘要: 基于软件平台MultiGen Creator和Vega开发出自主水下航行器(AUV)地形跟踪虚拟仿真系统,详细描述了系统软件的选择、模型的创建、虚拟海洋地形和环境的生成以及地形跟踪控制策略的设计与实现,研究了虚拟现实技术在AUV 地形跟踪中的应用。仿真结果表明,该系统能精确模拟现实环境中的环境交互功能,逼真演示AUV 地形跟踪的动态过程,为将来的AUV避碰控制和协同控制仿真提供了参考。
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关键词:
- 自主水下航行器(AUV) /
- 虚拟现实 /
- 地形跟踪 /
- 模糊规则
Abstract: Based on software platform Vega and MultiGen Creator, a simulation system of autonomous underwater vehicle(AUV) for bottom tracking has been developed. The selection of software, the model construction, the generation of virtual ocean environment and terrain, the implementation of fuzzy rules, and the application of virtual reality techniques are all introduced in detail. Simulation results show that this simulation system can precisely simulate the interaction in the environment, and realistically display the dynamic bottom tracking process of AUV. The simulation system may be applied to the simulation of obstacle avoidance control and cooperating control of AUV in the future.-
Key words:
- autonomous underwater vehicle(AUV) /
- virtual reality /
- bottom tracking /
- fuzzy rule
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