基于XNA的水下打捞机器人建模与运动仿真

Modeling and simulation of salvage AUV based on XNA

为了便于展示水下打捞机器人的行为动作、工作状态和工作场景,为水下打捞机器人操纵人员提供逼真的水下机器人模拟操纵训练平台,建立一种基于XNA的水下打捞机器人运动仿真模型,实现虚拟操作仿真。首先,利用Solid Works建立机器人的三维模型并导入至3DS Max中进行骨骼划分,然后在Visual Studio环境中建立起运动模型的关联,编程实现运动模型的交互控制,运用XNA中的高级着色语言(HLSL)绘制动态海洋场景。仿真系统运行结果表明,XNA可以高效地实现场景渲染与水下打捞机器人的实时虚拟控制,达到较理想的仿真结果。

In order to facilitate the display of salvage AUV~ actions, working status and working scene, it devel- ops the realistic underwater robot simulation training platform. It establishes a kind of underwater salvage robot motion simulation model based on XNA, realizes simulation of virtual operating. Using SolidWorks, it builds 3 D model of the robot, and transfers this model into 3DS Max to divide the model as different skeletons, defines the association of motion model in Visual Studio environment, realizes the motion model of interactive control, draws the dynamic ocean scene in XNA. The simulation result shows that the method is efficient to achieve the effect of scene rendering, the real -time virtual control of cutter suction dredger.