摘要
该文介绍了多水下机器人群体分布式智能控制软件的视景仿真系统。以MultiGenCreator建模,利用实时视景开发软件包OpenGLPerformer,采用POSIXThread多线程技术,在Linux环境下开发了分布式多水下机器人三维视景仿真平台。实现了多水下机器人分布式智能控制软件系统的实时视景仿真,保证了整个系统的信息共享与时间同步。同时该文讨论了该视景仿真软件的开发过程以及整个系统的体系结构和信息流程。试验结果表明,该视景系统可逼真演示多水下机器人编队水下航行、作业等过程,并满足系统仿真的实时性要求。
The visual simulation of Multi - AUVs' distributed intelligent control software was introduced in this paper. Modeling by MultiGen Creator, 'OpenGL Performer' and 'POSIX Threads' were used to develop the distributed 3D visual simulation of Multi - AUVs in Linux. The Real - time visual simulation of the distributed intelligent control software of Multi - AUVs was realized. The data share and time synchronization were guaranteed. The development process, architecture and data flow of whole system were discussed. The experiment shows that the system can realistically demonstrate the simulation process of Multi - AUVs' navigation and task, and besides, it can neet the real time requirement of system simulation.
出处
《计算机仿真》
CSCD
2005年第6期161-163,217,共4页
Computer Simulation
关键词
分布式系统
水下机器人
可视化仿真
Distributed system
Autonomous underwater vehicle
Visual simulation
