水下机器人视景仿真系统的开发

System development of visual simulation of underwater vehicle

水下机器人的视景仿真在整个机器人的研制中占有非常重要的地位,基于软件MultigenCreator和Vega,在SGI图形工作站上视景仿真系统被开发出来.介绍了利用Creator的建模方法,整个场景的生成过程,以及用Vega的图形界面Lynx和它提供的函数来实现对整个场景的控制.同时介绍了用X Motif来开发控制窗口的关键技术.仿真结果表明,该仿真系统能够满足水下机器人智能控制软件的开发对所需要的调试环境的要求.

Research on visual simulation system of underwater vehicle is very important in the whole process of research. Based on the software platform: Multigen Creator and Vega, the visual simulation system has been developed. The modeling method,process of the scene's formation and GUI lynx of Vega are explained. At the same time, the key point of using X-motif to develop the control window is discussed. The simulation result shows that this simulation system satisfies the requirement of the debugging environment.