基于UE的水下机器人动态仿真平台设计与实现

Design and Implementation of Dynamic Simulation Platform for Underwater Vehicle Based on UE

水下机器人在设计和研制时需要经过大量的测试,利用测试数据从而完善设计和研制;然而在江河湖海等水域中的测试,尤其是极端环境下的水域测试,成本高、周期长、危险性大,这给水下机器人研制带来了挑战,仿真成为应对这一挑战的可行途径;目前多数的仿真平台对于仿真环境的设计较为简单,缺乏在保证模拟真实性的条件下构建大型复杂场景的能力。为了解决仿真平台环境建模能力的不足,提高仿真效果的可视化程度,文章采用虚幻引擎(UE)、AirSim和分布式仿真算法平台(DASP)相结合的方案,设计并实现了一种应用于水下机器人的动态交互仿真平台,利用该平台对仿生机器鱼轨迹跟踪进行了LQR控制测试;仿真结果表明该仿真平台在交互性、真实性、可视化和仿真效果等方面表现出较强的优势。

The process of designing and developing underwater robots necessitates extensive testing,wherein test data is utilized to enhance the design and development.Nevertheless,the process of conducting tests in aquatic environments,including rivers,lakes,and oceans,particularly under harsh conditions,entails substantial expenses,prolonged durations,and inherent risks.These factors pose significant obstacles to the advancement of underwater robotics.Simulation has emerged as a feasible approach to tackle this difficulty.Currently,the majority of simulation platforms exhibit a very simplistic design in terms of their simulation environ-ment,so lacking the capability to construct extensive and intricate sceneries while simultaneously preserving the fidelity of the simula-tion.This study proposes a solution that integrates unreal engine(UE),AirSim,and distributed simulation algorithm platform(DASP)to address the limitations in environment modeling and enhance the visualization of simulation effects:The objective is to de-velop a water-based simulation system.The development of a dynamic and interactive simulation platform designed specifically for robots is being explored.The present platform was utilized for the purpose of conducting studies on trajectory tracking of bionic ro-botic fish using LQR control algorithm.The findings of the simulation study demonstrate that the simulation platform possesses nota-ble strengths in terms of interactivity,authenticity,visualization,and simulation effects.