摘要
针对多AUV海上试验风险大,成本高,周期长等问题,建立多AUV仿真平台是解决这些问题的有效途径。本文在MATLAB仿真环境中建立了一套分布式的可视化仿真系统,利用Simulink的S-function开发了基于TCP/IP的网络通信接口,采用VRML建模技术构建了水下航行体的3D实体模型、海洋环境模型和海底地形模型,最后通过Sim-ulink的VR-Sink模块实现了水下航行体的驱动。仿真结果表明,该系统能够在局域网中逼真地演示多AUV在虚拟海洋环境中的协同工作过程,验证了协同控制策略的有效性,为深入开展多AUV技术研究提供了参考。
Aiming at the issues of poor risk, high cost and long period in sea trial of multi-antonomous 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.
出处
《鱼雷技术》
2009年第4期57-60,共4页
Torpedo Technology
关键词
多AUV
分布式仿真
视景仿真
系统函数
虚拟现实工具箱
multi-autonomous underwater vehicle （multi-AUV）
distributed simulation
visual simulation
S-function
virtual reality toolbox
