基于CADCON的群体AUV三维仿真

Multi-AUV 3D-Simulation Based on CADCON

近年的AUV仿真工作更多地集中于对AUV水动力学特性仿真数学模型的建立上,不能满足AUV群体协作策略级仿真的需要。CADCON是AUSI基于Internet架构开发的群体协作AUV三维水下环境分布式仿真平台,提供了可定制的虚拟海洋环境和一系列可灵活配置的AUV模型以及AUV群体行为组件开发接口。该文介绍了CADCON的功能和体系结构,归纳了基于CADCON平台进行AUV群体协作仿真的基本流程和参数配置方法,给出了Visual C++环境下的AUV群体行为组件开发的基本方法,该方法的可行性已得到实验验证。

In the recent years, most efforts on AUV simulation are focused on hydrodynamic models, which cannot meet the demands of cooperative AUV simulations in strategy level. AUSI has developed a distributed 3D underwater simulation platform, called CADCON, based on Internet for multi - AUV cooperation. CADCON provides customized virtual undersea environments, a set of configurable AUV models and programming interface for developing AUV aggregate behavior components. In this paper, the functions and architecture of CADCON are introduced. The process of multi - AUV cooperation simulation based on CADCON is given and the Visual C ＋ ＋ programming for implementing AUV aggregate behavior components is discussed. The feasibilities of the approach presented above have been proved in experiments.