Implementation of Distributed Virtual Simulation System for Multi-AUV Based on Simulink and VRML
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摘要: 针对多AUV海上试验风险大，成本高，周期长等问题，建立多AUV仿真平台是解决这些问题的有效途径。本文在MATLAB仿真环境中建立了一套分布式的可视化仿真系统，利用Simulink的S-function开发了基于TCP/IP的网络通信接口，采用VRML 建模技术构建了水下航行体的3D实体模型、海洋环境模型和海底地形模型，最后通过Simulink的VR-Sink模块实现了水下航行体的驱动。仿真结果表明，该系统能够在局域网中逼真地演示多AUV在虚拟海洋环境中的协同工作过程，验证了协同控制策略的有效性，为深入开展多AUV技术研究提供了参考。Abstract: Aiming at the issues of poor risk, high cost and long period in sea trial of multi-autonomous underwater vehicle (multi-AUV), we establish an integrated distributed virtual simulation system based on MATLAB, develop a TCP/IP network interface by S-function of Simulink, create a virtual three-dimensional model of AUV, a sea world model, and a subsea terrain model by VRML, and implement the visual simulation of AUV using virtual reality toolbox to provide an effective simulation platform for multi-AUV. Simulation results show that this system can display the movement of multi-AUV realistically in a local area network, and test the validity of cooperation strategy of multi-AUV. This system is reliable and easy to extend, and may offer a reference for further research of multi-AUV.
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