Semi-Physical Acoustic Vision Simulation System of Autonomous Underwater Vehicle
Semi-physical acoustic vision simulation system of autonomous underwater vehicle (AUV) was established by combining physical simulation of decision layer with virtual simulation of sensory and executive layer. The hardware and software architecture of the simulation system were explained in detail. The virtual simulation of sonar sensor and the design of sonar vision processing system of the physical simulation were described. Finally, the long distance obstacle avoidance simulation, special objects search simulation and multi-objects tracking simulation tests were conducted to demonstrate the importance of the system to the success of sea experiments.
autonomous underwater vehicle(AUV) sonar vision semi-physical simulation hardware architecture software architecture
Zhang tie-dong Ma shan Wan lei Pang Yong-jie
State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001
国际会议
三亚
英文
1006-1009
2012-01-06（万方平台首次上网日期，不代表论文的发表时间）