摘要
水下机器人的视景仿真在整个机器人的研制中占有非常重要的地位。一方面应用在水下机器人航行时,进行实时监控,显示机器人的姿态信息。结合海底信息,为操作员的操控提供了重要的辅助信息;另一方面也应用在测试阶段的仿真航行,它可以反馈海底的障碍信息,提供高程深度数据。本文针对水下机器人视景仿真的需要,设计了水下机器人的视景仿真方法,利用UNITY3D技术进行开发,根据实际地图数据建立海底场景,显示水下机器人在水下航行的姿态,提高了海景的渲染效果和真实程度。本方法已经实际应用于"十三五"国家重点研发计划全海深水下机器人"海斗一号"中和国家重点研发计划全海深AUV中,在论证,测试,实用等各个阶段中,该方法都具有重要意义,为水下机器人的进一步研究提供了有力支撑。
The visual simulation plays a veryimportant role in the development of the robot.On the one hand,it can be used in underwater robot navigation to carry out real-time monitoring and display robot attitude information.With seabed information,it provides important auxiliary information for operator.On the other hand,it is also used in the simulation of the test stage.It can feed back the obstacle information of the seabed and provide elevation and depth data.Aiming at the needs of underwater robot visual simulation,this paper designs the visual simulation method of underwater robot,develops by using UNITY3 D technology,creates the scene according to the actual map data,displays the underwater navigation attitude of underwater robot,and improves the rendering effect and real degree of sea view.This method has been actually applied in the national key research and development plan of the 13 th Five-Year Plan for full-depth ocean autonomous and remotely-operated vehicle"Haidou-1"and AUV.In the demonstration,test,practical and other stages,this method is of great significance,providing a strong support for the further research of underwater robot.
作者
程宇
刘铁军
唐元贵
王健
姜志斌
祁胜
CHENG Yu;LIU Tie-jun;TANG Yuan-gui;WANG Jian;JIANG Zhi-bin;QI Sheng Shenyang(Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China)
出处
《计算机科学》
CSCD
北大核心
2021年第S01期281-284,共4页
Computer Science
基金
国家重点研发计划(2017YFC0305703)。
