Design and Implementation of a Multiple Underwater Vehicle Simulation System Based on LAN
XU Hong-li1,2, XU Zhen-zhen1,2, FENG Xi-sheng2
1. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China; 2. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
Abstract：The presented multiple underwater vehicle simulation system(MUVSS) is a distributed real-time digital simulation system that is used for the demonstration of the control architecture,cooperative control,path planning,learning algorithm of multiple underwater vehicle system(MUVS).The system will be the base and effective method for the development of multiple underwater vehicle technology.This paper discusses the ways to implement MUVS simulation by using the distributed simulation technology cased on LAN,and presents the hardware and software of the system in detail.
[1] Blidberg R. The development of autonomous underwater vehicles(AUV):a brief summary[EB/OL]. http:∥www. ausi. org, 2001-03-26. [2] Chappell S, Komerska R. An environment for high-level multiple AUV simulation and communication[EB/OL]. http:∥www. ausi.org, 2000-08-01. [3] Choi S, Yuh J. A virtual collaborative world simulator for underwater robots using multi-dimensional synthetic environment[A]. Proceedings of the 2001 IEEEInternational Conference on Robotics and Automation[C]. Seoul, Korea:IEEE,2001. 926-931. [4] Fujii T, Ura T, Kuroda Y, et al. Development of a versatile test-bed "Twin-Burger" toward realization of intelligent behaviors of autonomous underwater vehicles[EB/OL]. http:∥underwater. iis. u-tokyo.ac.jp/robot/tb/tb-chpl-e. html, 2005-01-24. [5] Robinson T. ODIN-an underwater warfare simulation environment[A]. Proceedings of 2001 Winter Simulation Conference[C]. Arliugton, Va. USA:IEEE, 2001. 672-679. [6] 梁金海.基于多智能体的军用智能水下机器人体系结构研究[D]. 哈尔滨:哈尔滨工程大学,2003. [7] 李皓,康凤举,田志超.基于HLA的水下航行器分布交互仿真[J]. 计算机仿真,2003,20(3):5-8. [8] 张斌.多机器人系统仿真平台[D]. 北京:中国科学院自动化所,2000.
