基于大地形管理的水下机器人视景仿真系统

摘要

研究水下机器人视景系统优化设计,针对水下机器人的航行环境具有不可接近性和未知性的特点,为创建水下海洋生物和可观世界环境,利用虚拟的计算机仿真环境作为水下机器人初期调试的“平台”具有十分重要的意义.建立了基于大地形管理的水下机器人视景仿真系统.有关大地模型建立、场景效果等,利用函数变量方法自定义机器人运动引擎,采用粒子系统仿真了机器人尾流流场和低噪音的实现.依托软件平台MultiGen Creator和Vega,利用Vega与Visual C++混合编程实现LADBM模块的大地形管理,进行仿真验证.仿真结果表明,视景仿真系统逼真地再现了水下机器人在大范围区域探测目标及自主航行的过程,有效地解决了水下机器人长距离自主航行视景仿真中的大地形管理问题.%Ocean environment is unreachable and unknown. So, it is significant to build up a virtual simulation environment in the initial stage of AUV development. The simulation system of Autonomous Underwater Vehicle (AUV) based on large Terrain management was developed on software platforms, Multigen Creator and Vega. The authors introduced the selection of system software, the model, the effect of scene, the realization of kinetic engine, the realization of wake flow and low noise, the large terrain management, and the development process of Vega. The simulation results show that the visual simulation system can realistically demonstrate the navigation of autonomous underwater vehicle. It effectively solved the problem of the visual simulation of autonomous underwater vehicle in large Terrain.