AUV前视声纳模拟及避障研究

杜辉新; 严卫生; 赵 涛

doi:10.11993/j.issn.1673-1948.2010.01.010

AUV前视声纳模拟及避障研究

doi: 10.11993/j.issn.1673-1948.2010.01.010

西北工业大学航海学院,陕西西安,710072

基金项目: 新世纪优秀人才支持计划资助（教技司290号）

详细信息

作者简介:
杜辉新（1983-) ，男，在读硕士，主要研究方向为虚拟现实技术及视景仿真技术.

中图分类号: TJ630.1; TP391.9
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- 被引次数: 0
出版历程
- 收稿日期: 2008-05-20
- 修回日期: 2008-06-12
- 刊出日期: 2010-02-28

Simulation of Forward Looking Sonar and Obstacle Avoidance for Autonomous Underwater Vehicle

College of Marine Engineering,Northwestern Polytechnical University,Xi′an 710072, China

摘要

摘要: 基于软件平台MultiGen Creator和Vega，在虚拟环境下模拟自主水下航行器的避障过程，在HP工作站上开发了自主水下航行器避障视景仿真系统，提出了一种前视声纳的仿真方法，利用Vega提供的碰撞矢量函数和自定义的Volume碰撞方式，模拟前视声纳的功能，并利用声纳所测得障碍物的数据实现了虚拟环境下自主水下航行器的避障。仿真结果表明，该视景仿真能够使仿真系统更加逼真和接近于实际情况，并且满足系统仿真的实时性要求。
- 自主水下航行器 /
- 前视声纳 /
- 避障 /
- 虚拟环境 /
- 仿真
Abstract: In order to simulate the process of obstacle avoidance for autonomous underwater vehicle (AUV) in virtual environment, a visual simulation system of obstacle avoidance for AUV is developed on HP workstation based on the software platforms MultiGen Creator and Vega. A simulation method of forward looking sonar (FLS) is proposed. Utilizing the collision vector function proposed by Vega and the user defined volume collision method, the function of FLS is simulated. Meanwhile, using the data measured by sonar, the obstacle avoidance of AUV in virtual environments is achieved.Simulation results show that this visual simulation can make the simulation system approach actual situations, and satisfy the real time requirement of system simulation.
- autonomous underwater vehicle (AUV) /
- forward looking sonar(FLS) /
- obstacle avoidance /
- visual environment /
- simulation

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参考文献(8)

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