自主水下航行器避障的视景仿真实现

Visual Simulation of Obstacle Avoidance for AUV

为了在虚拟环境下模拟自主水下航行器的避障过程,基于软件平台MultiGen Creator和Vega,在HP图形工作站上开发了自主水下航行器避障视景仿真平台。提出了一种避碰声纳的仿真方法,利用Vega提供的碰撞矢量函数和自定义的Vol-ume碰撞方式,模拟前视声纳的功能,并利用Vega的Isectors来仿真避碰声纳发现障碍物的过程。在AUV避障的视景仿真中运用,实现了虚拟环境下自主水下航行器避障。仿真结果表明,视景仿真能够使仿真系统更加逼真和接近于实际情况,并且满足系统仿真的实时性要求。

In order to simulate the process of obstacle avoidance for AUV in virtual environment, a visual simulation platform of obstacle avoidance for AUV is developed on HP graphic workstation based on software platform - MultiGen Creator and Vega. A simulation method of collision avoidance sonar is proposed. Utilizing collision vector function provided by Vega and user- defined Volume collision method, the function of forward looking Sonar （FLS） is modeled. Isectors in Vega are used to simulate the process of obstacles detection by collision avoidance sonar. This method is exercised on visual simulation of obstacle avoidance for AUV, and the obstacle avoidance for AUV in virtual environment is implemented. The simulation results show that this visual simulation can realistically make the simulation system approach practical circumstances, and besides, it meets the real time requirement of system simulation.