A distributed simulator for the development of the unmanned underwater vehicles control software

被引：0

作者：

Domenico, Suriano ^{[1
]}

Claudio, Moriconi ^{[2
]}

机构：

[1] ENEA, SS 7 Appia Km 713-7, I-72100 Brindisi, Italy

[2] ENEA, I-00060 Santa Maria Di Galeria, Rm, Italy

来源：

PROCEEDINGS OF THE 13TH IASTED INTERNATIONAL CONFERENCE ON ROBOTICS AND APPLICATIONS/PROCEEDINGS OF THE IASTED INTERNATIONAL CONFERENCE ON TELEMATICS | 2007年

关键词：

modelling; simulation; underwater robots;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper a distributed system for the development of the Unmanned Underwater Vehicles (UUVs) control software is shown. This system is composed by three software components running on three different computers linked by a TCP/IP ethernet local area network (LAN). The first software component called human machine interface (HMI) runs on the first PC machine and interfaces the human operator with the onboard UUV computer. The vehicle software control running on the onboard UUV computer interacts with a 3D graphical simulator showing the virtual undersea world and the vehicle motion. The 3D graphical simulator also runs on a PC computer. This tool has been used for the development of the control software of SARA, the Enea's Autonomous Underwater Vehicle (AUV). It greatly reduced the time and the money spent in the AUV developing and the risks in future sea tests.

引用

页码：414 / +

页数：2

共 15 条

[1]

ALBUS J, 1987, NBS STANDARD REFEREN

[2]

ANTICH J, 2003, P 6 IFAC MCMC 2003 G, P140

[3]

BRUTZMAN D, 1994, THESIS NAVAL POSTGRA

[4]

BRUTZMAN DP, 1992, PROCEEDINGS OF THE 1992 SYMPOSIUM ON AUTONOMOUS UNDERWATER VEHICLE TECHNOLOGY, P3, DOI 10.1109/AUV.1992.225199

[5]

Bruzzone G, 2001, OCEANS 2001 MTS/IEEE: AN OCEAN ODYSSEY, VOLS 1-4, CONFERENCE PROCEEDINGS, P1066, DOI 10.1109/OCEANS.2001.968264

[6]

Choi SK, 2000, 2000 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2000), VOLS 1-3, PROCEEDINGS, P861, DOI 10.1109/IROS.2000.893127

[7] A simulation environment for the coordinated operation of multiple autonomous underwater vehicles [J].

de Sousa, JB ;

Gollu, A .

PROCEEDINGS OF THE 1997 WINTER SIMULATION CONFERENCE, 1997, :1169-1175

[8]

Fossen T., 1995, Guidance and Control of Ocean Vehicles

[9]

Kuroda Y, 1995, IEEE IND ELEC, P173, DOI 10.1109/IECON.1995.483353

[10] AUV test using real/virtual synthetic world [J].

Kuroda, Y ;

Aramaki, K ;

Ura, T .

PROCEEDINGS OF THE 1996 SYMPOSIUM ON AUTONOMOUS UNDERWATER VEHICLE TECHNOLOGY, 1996, :365-372

← 1 2 →