Semi-Physical Acoustic Vision Simulation System of Autonomous Underwater Vehicle

Abstract:

Semi-physical acoustic vision simulation system of autonomous underwater vehicle (AUV) was established by combining physical simulation of decision layer with virtual simulation of sensory and executive layer. The hardware and software architecture of the simulation system were explained in detail. The virtual simulation of sonar sensor and the design of sonar vision processing system of the physical simulation were described. Finally, the long distance obstacle avoidance simulation, special objects search simulation and multi-objects tracking simulation tests were conducted to demonstrate the importance of the system to the success of sea experiments.

• Periodical: Applied Mechanics and Materials (Volumes 128-129)
• Pages: 1006-1009
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.128-129.1006
• Online since: October 2011
• Authors: Tie Dong Zhang, Shan Ma, Lei Wan, Yong Jie Pang
• Keywords: Autonomous Underwater Vehicle (AUV), Hardware Architecture, Semi-Physical Simulation, Software Architecture, Sonar Vision

References

[1] Xu Yuru, Pang Yongjie, Gan Yong, in: AUV-state-of-the-art and prospect[J]. CAAI Transactions on Intelligent Systems, 2006, 1(1): 9-16.

[2] Bharath Kalyan, Arjuna Balasuriya, Tamaki Ura, Sardha Wijesoma, in: Sonar and Vision based Navigation Schemes for Autonomous Underwater Vehicles. Proceedings of the 8th International Conference on Control, Automation, Robotics and Vision, 2006, 437-442.

DOI: 10.1109/icarcv.2004.1468865

[3] John Folkesson, John Leonard, Jacques Leederkerken, and Rob Williams, in: Feature Tracking For Underwater Navigation using Sonar. Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, 3678-3684.

DOI: 10.1109/iros.2007.4399201

[4] Cufi X, Garcia R, Ridao P, in: An approach to vision-based station keeping for an unmanned underwater vehicle. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, 799-804.

DOI: 10.1109/irds.2002.1041488

[5] D.P. Horner, in: AUV Experiments in Obstacle Avoidance. In Proceedings of MTS/IEEE, 2005, 1464-1470.

[6] Quidu,I. and Hetet, A, in: AUV (REDERMOR) Obstacle Detection And Avoidance Experimental Evaluation. Proceedings of OCEANS 2007- Europe, 2007, 1-6.

DOI: 10.1109/oceanse.2007.4302304

[7] Michael W Roeckel , Robert H. Rivoir, in: Simulation Environments for the Design and Test of an Intelligent Controller for Autonomous Underwater Vehicles. Proceedings of the 1999 Winter Simulation Conference , 1999, 98-114.

DOI: 10.1145/324898.325002

[8] MultiGen-Paradigm Inc. Vega Prime Programmer's Guide (Version 2. 0)[M], USA: MultiGen-Paradigm Inc., (2005).

[9] Kong Xiangying, Bai Guizhi. VxWorks and Tornado development environment[M]. China electric power press, (2001).