虚拟环境下自主水下航行器的避障研究

为了在虚拟环境下模拟自主水下航行器的水平面避障过程，基于软件平台MultiGen Creator和Vega，在HP工作站上开发了自主水下航行器避障视景仿真系统。提出了一种前视声纳的仿真方法，利用Vega提供的碰撞矢量函数和自定义的Volume碰撞方式，模拟前视声纳的功能，并根据声纳所测得的障碍物相对于自主水下航行器的位置关系设计一个模糊推理系统来求解其避障角度，实现了虚拟环境下自主水下航行器的水平面避障。仿真结果表明，该视景仿真能够使仿真系统更加逼真和接近于实际情况，并且满足系统仿真的实时性要求。

Obstacle Avoidance for AUV in Virtual Environment

In order to simulate the process of obstacle avoidance for autonomous underwater vehicle （AUV） on horizontal plane in virtual environment, an visual simulation system of obstacle avoidance for AUV is developed on HP workstation based on the software plafforms-MultiGen Creator and Vega. A simulation method of forward looking sonar （FLS） is proposed. Utilizing the collision vector function provided by Vega and the self-defined volume collision method, the function of FLS is simulated. A fuzzy inference system is designed to derive the obstacle avoidance angle based on the position relationship of AUV and obstacle. The obstacle avoidance for AUV on the horizontal plane in virtual environment is implemented. Simulation results show that this visual simulation can realistically make the simulation system approach practical circumstances, and satisfy the real time requirement of system simulation.