智能水下机器人协同仿真框架研究

摘要： 针对水下机器人仿真的实际应用，引入协同仿真技术，提出了水下机器人协同仿真框架和配套的开发方法.阐述了该平台的体系结构和信息流程，对运动控制的协同仿真模型进行了说明，在建立的仿真系统中进行了远距离蔽障航行、目标探测与识别和管道跟踪半实物仿真实验.实验表明，协同仿真框架能够完成各种不同软件环境的异构仿真模型之间的协同工作，克服了单一模型难以精确描述非线性关系的问题，在一定程度上提高了仿真的可信度.

A Framework of Collaborative Simulation for Autonomous Underwater Vehicles

According to the practical application of AUV simulation, collaborative simulation was used to solve these problems. An AUV collaborative simulation architecture and development method was provided. The architecture structure and the information transfer process of the platform were described. And the hydrodynamics collaborative simulation model was also described. Finally, the obstacle avoidance and long voyage simulation test, objects detection and recognition simulation test, and pipes track simulation test were conducted. The tests prove that the collaborative simulation framework can complete the collaborative work between isomerous simulation models in different software environment. And at the same time, it solves the problem that single model can not accurately describe the nonlinear computing. It improves the simulation reliability at a certain extent.