Design of Semi Physical Simulation Platform for Autonomous Underwater Vehicle

Yi Yang; Yong Jie Pang; Lei  Zhang

doi:10.4028/www.scientific.net/AMR.765-767.238

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 765-767Design 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:

Advanced Materials Research (Volumes 765-767)

Pages:

238-243

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.765-767.238

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Online since:

September 2013

Authors:

Yi Yang, Yong Jie Pang, Lei Zhang

Keywords:

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

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