Design of Semi Physical Simulation Platform for Autonomous Underwater Vehicle

Dong Xu; Lei Zhang; Shan Ma; Jin Xin Zhao

doi:10.4028/www.scientific.net/AMM.341-342.1155

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A Lightweight of Cluster-Based Key Management Scheme for Wireless Sensor Networks
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Hybrid Approach to Optimize the Cluster Flying Orbit for Fractionated Spacecraft Based on PSO-SQP Algorithm
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Design of Semi Physical Simulation Platform for Autonomous Underwater Vehicle
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 341-342Design of Semi Physical Simulation Platform for...

Design of Semi Physical Simulation Platform for Autonomous Underwater Vehicle

Abstract:

To verify the system software logic of a newly designed autonomous underwater vehicle and the hardware architecture, data interface and reliability of the intelligent control system, the semi physical simulation platform was established by combining physical simulation of decision layer with virtual simulation of perception and behavior layer. The hardware and software architecture of the simulation platform were explained in detail. The virtual simulations of motion, sensors and physical simulation of intelligent control system were described. Finally, the obstacle avoidance simulation and long voyage simulation tests were conducted, and the platform is important for the success of sea experiments.

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Periodical:

Applied Mechanics and Materials (Volumes 341-342)

Pages:

1155-1161

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.341-342.1155

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Online since:

July 2013

Authors:

Dong Xu, Lei Zhang, Shan Ma, Jin Xin Zhao

Keywords:

Autonomous Underwater Vehicle (AUV), Hardware Architecture, Intelligent Control, Semi Physical Simulation, Software Architecture

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