AUV前视声纳模拟及避障研究

基于软件平台MultiGen Creator和Vega，在虚拟环境下模拟自主水下航行器的避障过程，在HP工作站上开发了自主水下航行器避障视景仿真系统，提出了一种前视声纳的仿真方法，利用Vega提供的碰撞矢量函数和自定义的Volume碰撞方式，模拟前视声纳的功能，并利用声纳所测得障碍物的数据实现了虚拟环境下自主水下航行器的避障。仿真结果表明，该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。

Simulation of Forward Looking Sonar and Obstacle Avoidance for Autonomous Underwater Vehicle

In order to simulate the process of obstacle avoidance for autonomous underwater vehicle （AUV） in virtual environment, a visual simulation system of obstacle avoidance for AUV is developed on HP workstation based on the software platforms MuhiGen Creator and Vega. A simulation method of forward looking sonar （FLS） is proposed. Utilizing the collision vector function proposed by Vega and the user defined volume collision method, the function of FLS is simulated. Meanwhile, using the data measured by sonar, the obstacle avoidance of AUV in virtual environments is achieved. Simulation results show that this visual simulation can make the simulation system approach actual situations, and satisfy the real time requirement of system simulation.