MARS: A simulation environment for marine robotics

Author

Tosik, Thomas ; Maehle, Erik

Author_Institution

Inst. of Comput. Eng., Univ. of Lubeck, Lubeck, Germany

fYear

2014

fDate

14-19 Sept. 2014

Firstpage

1

Lastpage

7

Abstract

In this paper, we present a simulation environment for marine robotics called MARS. MARS is a Hardware-in-the-Loop online simulation environment for multiple AUVs and USVs. Through the usage of the 3D-Engine jMonkeyEngine, sophisticated underwater graphics are possible. Several actuators and sensors enable complete integration tests in various scenarios. A special focus is set on the sonar which uses a ray-based approach. Water currents together with waves, computation of the center of buoyancy, and volume calculation enable a realistic physical behavior under and on the water surface. Finally, direct feedback from the real marine robots at our institute assists in the evaluation of MARS.

Keywords

actuators; autonomous underwater vehicles; digital simulation; marine control; sensors; sonar; 3D-Engine jMonkeyEngine; AUV; MARS; USV; buoyancy center; hardware-in- the-loop online simulation environment; marine robotics; ray-based approach; realistic physical behavior; simulation environment; sophisticated underwater graphics; water currents; Actuators; Mars; Mathematical model; Robots; Sensors; Sonar; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Oceans - St. John's, 2014

Conference_Location

St. John´s, NL

Print_ISBN

978-1-4799-4920-5

Type

conf

DOI

10.1109/OCEANS.2014.7003008

Filename

7003008