摘要
为解决无人船避障导航算法验证成本高的问题,在实验室中为相关算法提供便捷高效的离线测试方案,利用虚拟现实技术,基于Unity 3D开发平台,采用插件动态加载方法,设计开发了一款仿真测试软件平台。在此软件平台中能够实时生成具有随机障碍物的虚拟近岸海洋环境,将自主设计开发的避障导航算法嵌入无人船运动过程中,对相关算法的性能指标进行测试和记录展示。设计开发的无人船避障导航算法仿真测试平台,为无人船关键测控算法的离线仿真测试验证提供了新的手段,实验过程易于复现,算法效果比对直观。与实船实验相比节省了大量的人力物力,提高了算法测试验证的便捷性和效率。
In order to realize the efficiently off-line simulation test of the relevant algorithms for USV to avoid obstacles and navigate in the laboratory,based on Unity 3D platform,this paper using virtual reality technology,design and develop a simulation test platform software with plug-in dynamic loading method.In this platform,a virtual near-shore marine environment with random obstacles can be generated in real time,then the self-designed obstacle avoidance and navigation algorithm is embedded in USV movement process to test and record the algorithm performance index.Simulation test platform for obstacle avoidance and navigation algorithm of USV provides a new means for off-line simulation test and verification of key measurement and control algorithm of USV.The experimental process is easy to reproduce and the algorithm effect comparison is intuitive.Compared with the real ship experiment,it saves a lot of manpower and material resources,and improves the convenience and efficiency of algorithm test and verification.
作者
张乐乐
戴永寿
李立刚
ZHANG Lele;DAI Yongshou;LI Ligang(College of Ocean and Space Information,China University of Petroleum(East China),Qingdao 266580,China)
出处
《电子设计工程》
2024年第4期17-21,26,共6页
Electronic Design Engineering
基金
国家自然科学基金(41974144)
自主创新科研计划项目(22CX01004A-2)。
