水下滑翔机器人实时仿真平台研究与开发

为检验水下滑翔机器人系统的整体性能及载体在水下的运动学和动力学特性,提出了采用半物理仿真方式建立水下滑翔机器人实时仿真平台的设想.介绍了建立实时仿真平台的硬件结构,并对水下滑翔机器人实时仿真平台的搭建过程作了简要的说明.仿真平台系统包括虚拟水下滑翔机器人系统和虚拟显示系统两部分,其中虚拟显示系统包括:MultiGen Creator建立的三维载体模型和海底地形;Vega生成的实时视景程序;基于MFC的视景仿真程序.

Research and Development of Real-time Simulation Platform of Underwater Glider

To verify the integrated capability of the Underwater Glider system and performance of kinematics and dynamics of Underwater Glider in water, a real-time simulation platform based on semi-physical mode was proposed. The hardware structure of the semi-physical simulation platform was introduced, and the process of developing the Real-time simulation platform was briefly illustrated. The platform is consisted of virtual Underwater Glider system and virtual display system, the virtual display system includes: three-dimensional Underwater Glider model and Seabed topography model created by MultiGen Creator, the real-time visual program created by Vega and visual simulation program based on MFC.