Semi-Physical Acoustic Vision Simulation System of Autonomous Underwater Vehicle
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.
T. D. Zhang et al., "Semi-Physical Acoustic Vision Simulation System of Autonomous Underwater Vehicle", Applied Mechanics and Materials, Vols. 128-129, pp. 1006-1009, 2012