【摘要】 在水下机器人的设计和开发过程中有一个严重的限制问题,就是由于水下机器人工作在较深的水中,因此很难观察到水下机器人的工作情况。针对实验室开发的新型水下机器人,该文的集成仿真系统提供了一个虚拟的海洋环境,和一些传感器的仿真,能够较为真实地模拟水下机器人的工作过程。它允许研究人员在实验室里方便地进行测试,并通过三维实时的图形场景对机器人的工作过程进行监控。最终通过仿真试验,完善了机器人控制系统的设计。更多还原

【Abstract】 A critical bottleneck exists in Autonomous Underwater Vehicles(AUVs) design.It is tremendously difficult to observe the situation of AUVs,because they operate in the deep water.An integrated simulation system for our new type of AUV,which provides an underwater virtual world and some simulations of sensors and could model the process of works of the AUV in real world and in real time.It is convenient for researchers to do experiments in laboratory and to monitor the whole process of the works of the AUV through the 3D real time graphics.At last,The design of the control system of the AUV is made perfect through the simulation experiments.更多还原