The development of autonomous underwater vehicle´s semi-physical virtual reality system

Author

Liu, Kaizhou ; Liu, Jian ; Zhang, Zhang ; Xu, Hongli ; Feng, Xisheng

Author_Institution

Shenyang Polytech. Inst. of Autom., China

Volume

1

fYear

2003

fDate

8-13 Oct. 2003

Firstpage

301

Abstract

A semi-physical virtual reality system applying to autonomous underwater vehicle control study is presented in this paper. This system is composed of three nodes: (1) autopilot node for mission planning and control, (2) virtual node for virtual devices and sensors and (3) visualization node for virtual ocean environment and display the state of AUV. The autopilot node can be both linked to the real sensors and actuators dealing with a real mission, and linked to the virtual world for simulation. The advantages of this semi-physical virtual reality system include that: (1) the vehicle software can he simulated in the laboratory before real experiments taking place, (2) the merit and demerit of some newly AUV system can be confirmed, (3) Moreover intensive testing is easy and its cost is not too expensive.

Keywords

control engineering computing; mobile robots; remotely operated vehicles; underwater vehicles; virtual reality; AUV systems; autonomous underwater vehicle control; autopilot node; mission planning; semiphysical virtual reality system; vehicle software; virtual ocean environment; Actuators; Control systems; Displays; Laboratories; Oceans; Sensor systems; Software testing; Underwater vehicles; Virtual reality; Visualization;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on

Print_ISBN

0-7803-7925-X

Type

conf

DOI

10.1109/RISSP.2003.1285591

Filename

1285591