Title :
Integrated simulation for rapid development of autonomous underwater vehicles
Author :
Brutzman, Donald P. ; Kanayama, Yutaka ; Zyda, Michael J.
Author_Institution :
Dept. of Comput. Sci., US Naval Postgraduate Sch., Monterey, CA, USA
Abstract :
The autonomous underwater vehicle (AUV) integrated simulator has been designed to support complete scientific visualization of AUV vehicle performance. High-resolution 3D graphics workstations can provide real-time representations of vehicle dynamics, control system behavior, mission execution, sonar processing and object classification. Use of well-defined, user-readable mission log files as the data transfer mechanism allows consistent and repeatable simulation of all AUV operations. Examples of integrated simulation are provided using the Naval Postgraduate School AUV, an eight-foot, 387-pound untethered robot submarine designed for research in adaptive control, mission planning, mission execution, and post-mission data analysis
Keywords :
digital simulation; engineering graphics; engineering workstations; marine systems; mobile robots; naval engineering computing; 387 lb; 8 ft; AUV; autonomous underwater vehicles; high-resolution 3D graphics workstations; integrated simulator; mission execution; mission log files; object classification; sonar processing; submarines; untethered robot submarine; Control systems; Data visualization; Graphics; Mobile robots; Real time systems; Remotely operated vehicles; Sonar; Underwater vehicles; Vehicle dynamics; Workstations;
Conference_Titel :
Autonomous Underwater Vehicle Technology, 1992. AUV '92., Proceedings of the 1992 Symposium on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-0704-6
DOI :
10.1109/AUV.1992.225199
