| 自主水下航行器避障的视景仿真实现 |
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| 引用本文： | 马文杰,严卫生,桂志辉.自主水下航行器避障的视景仿真实现[J].计算机仿真,2008,25(6). |
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| 作者姓名： | 马文杰 严卫生 桂志辉 |
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| 作者单位： | 西北工业大学航海学院,陕西,西安,710072 |
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| 基金项目： | 教育部跨世纪优秀人才培养计划 |
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| 摘 要： | 为了在虚拟环境下模拟自主水下航行器的避障过程,基于软件平台MuhiGen Creator和Vega,在HP图形工作站上开发了自主水下航行器避障视景仿真平台.提出了一种避碰声纳的仿真方法,利用Vega提供的碰撞矢量函数和自定义的Vol-ume碰撞方式,模拟前视卢纳的功能,并利用Vega的Isectors来仿真避碰声纳发现障碍物的过程.在AUV避障的视景仿真中运用,实现了虚拟环境下自主水下航行器避障.仿真结果表明,视景仿真能够使仿真系统更加逼真和接近于实际情况,并且满足系统仿真的实时性要求.
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| 关 键 词： | 自主水下航行器 视景仿真 避碰声纳 避障 |
Visual Simulation of Obstacle Avoidance for AUV |
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| MA Wen-jie,YAN Wei-sheng,GUI Zhi-hui.Visual Simulation of Obstacle Avoidance for AUV[J].Computer Simulation,2008,25(6). |
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| Authors: | MA Wen-jie YAN Wei-sheng GUI Zhi-hui |
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| Affiliation: | MA Wen-jie,YAN Wei-sheng,GUI Zhi-hui(College of Marine,Northwestern Polytechnical University,Xi'an Shanxi 710072,China) |
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| Abstract: | In order to simulate the process of obstacle avoidance for AUV in virtual environment, a visual simulation platform of obstacle avoidance for AUV is developed on HP graphic workstation based on software platform-MultiGen Creator and Vega. A simulation method of collision avoidance sonar is proposed. Utilizing collision vector function provided by Vega and user-defined Volume collision method, the function of forward looking sonar (FLS) is modeled. Isectors in Vega are used to simulate the process of obstacl... |
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| Keywords: | AUV Visual simulation Collision avoidance sonar Obstacle avoidance |
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