| 多水下机器人视景仿真系统技术研究 |
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| 引用本文： | 李晔,由光鑫,庞永杰.多水下机器人视景仿真系统技术研究[J].计算机仿真,2005,22(6):161-164. |
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| 作者姓名： | 李晔 由光鑫 庞永杰 |
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| 作者单位： | 哈尔滨工程大学船舶工程学院,黑龙江,哈尔滨,150001 |
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| 摘 要： | 该文介绍了多水下机器人群体分佰式智能控制软件的视景仿真系统。以MultiGen Creator建模，利用实时视景开发软件包OpenGL Performer，采用POSIX Thread多线程技术，在Linux环境下开发了分布式多水下机器人三维视景仿真平台。实现了多水下机器人分布式智能控制软件系统的实时视景仿真，保证了整个系统的信息共享与时间同步。同时该文讨论了该视景仿真软件的开发过程以及整个系统的体系结构和信息流程。试验结果表明，该视景系统可逼真演示多水下机器人编队水下航行、作业等过程，并满足系统仿真的实时性要求。
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| 关 键 词： | 分布式系统 水下机器人 可视化仿真 |
| 文章编号： | 1006-9348(2005)06-0161-03 |
| 修稿时间： | 2004年1月12日 |
Research on Visual Simulation System for Multi-AUVs |
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| LI Ye,YOU Guang-xin,PANG Yong-jie.Research on Visual Simulation System for Multi-AUVs[J].Computer Simulation,2005,22(6):161-164. |
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| Authors: | LI Ye YOU Guang-xin PANG Yong-jie |
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| Abstract: | The visual simulation of Multi - AUVs' distributed intelligent control software was introduced in this paper. Modeling by MultiGen Creator, "OpenGL Performer" and "POSIX Threads" were used to develop the distributed 3D visual simulation of Multi - AUVs in Linux. The Real - time visual simulation of the distributed intelligent control software of Multi - AUVs was realized. The data share and time synchronization were guaranteed. The development process, architecture and data flow of whole system were discussed. The experiment shows that the system can realistically demonstrate the simulation process of Multi - AUVs' navigation and task, and besides, it can neet the real time requirement of system simulation. |
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| Keywords: | Distributed system Autonomous underwater vehicle Visual simulation |
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