A dynamic simulator for underwater vehicle-manipulators

被引：21
作者：
ICube Laboratory, Université de Strasbourg, France [1 ]
机构：
[1] ICube Laboratory, Université de Strasbourg
来源：
Lect. Notes Comput. Sci. | / 25-36期
关键词：
Computer software - Autonomous underwater vehicles - Simulators - Rendering (computer graphics);
D O I：
10.1007/978-3-319-11900-7_3
中图分类号：
学科分类号：
摘要：
In this paper we present a dynamic simulator for intervention autonomous underwater vehicles. Prototyping and testing of such robots is often tedious and costly, and realistic simulation can greatly help validating several aspects of the project. In order to benefit from existing software, the presented system is integrated with ROS, through the Gazebo dynamic simulator, and the underwater image rendering UWSim. The whole approach allows realistic rendering of dynamic multirobot simulation, with contact physics, buoyancy, hydrodynamic damping and low-level PID control. This paper details the modeling choices that are done and exposes how to build its own AUV model. Integration with other ROS programs is exposed, and a simulation shows an example of behavior during a black box recovery mission. © Springer International Publishing Switzerland 2014.
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收藏
页码：25 / 36
页数：11
相关论文
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