Implementation of Distributed Virtual Simulation System for Multi-AUV Based on Simulink and VRML

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.