UUV Simulator: A Gazebo-based Package for Underwater Intervention and Multi-Robot Simulation

被引：205

作者：

Manhaes, Musa Morena Marcusso ^{[1
]}

Scherer, Sebastian A. ^{[1
]}

Voss, Martin ^{[1
]}

Douat, Luiz Ricardo ^{[1
]}

Rauschenbach, Thomas ^{[2
]}

机构：

[1] Robert Bosch GmbH, Corp Sect Res & Adv Engn, Renningen, Germany

[2] Fraunhofer Inst Optron Syst Technol & Image Explo, AST, Ilmenau, Germany

来源：

OCEANS 2016 MTS/IEEE MONTEREY | 2016年

关键词：

D O I：

10.1109/OCEANS.2016.7761080

中图分类号：

P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

This paper describes the Unmanned Underwater Vehicle (UUV) Simulator, an extension of the open-source robotics simulator Gazebo to underwater scenarios, that can simulate multiple underwater robots and intervention tasks using robotic manipulators. This is achieved mainly through a set of newly implemented plugins that model underwater hydrostatic and hydrodynamic effects, thrusters, sensors, and external disturbances. In contrast to existing solutions, it reuses and extends a general-purpose robotics simulation platform to underwater environments.

引用

页数：8

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