Vega虚拟环境避碰技术在潜水器仿真中的应用  

Vega Based Virtual Collision Avoiding Technology in Simulation System of Deep-sea ROV’s Near-Ocean-Bottom Operation

作　　者：王中华[1] 葛彤[1] 朱继懋[1] 

机构地区：[1]上海交通大学水下工程研究所,上海200030

出　　处：《系统仿真学报》2005年第12期3089-3090,3094,共3页Journal of System Simulation

基　　金：深海勘探技术装备虚拟试验系统(DY105-0301-06)

摘　　要：基于软件平台MultigenCreator和Vega开发出的深海潜水器近海底作业视景仿真系统,能实现虚拟环境下的避碰要求;利用Vega中所提供的碰撞方式对象、在潜水器模型上安装碰撞矢量,使其能够在虚拟的复杂海底地形环境中成功地规避其作业路径上的障碍和预知其作业路径上的起伏。仿真结果表明,虚拟环境避碰技术能显著提高潜水器水下作业仿真过程的效果和逼真性。The visual simulation system of near-ocean-bottom operation of deep-sea vehicle, which is developed basing on the software platform Multigen Creator and Vega, applies a method for collision avoiding in the virtual environment. By taking advantage of the ＂Isector＂ object supplied by Vega and mounting ＂BUMP＂ on the model of the vehicle, it can elude the obstructs on its cruising path and foreknow the undulation of its work route. The simulation results show that the effect and fidelity of the simulation process of deep-sea vehicle＇s underwater performance can be remarkably improved by utilizing the collision avoiding technology in the virtual environment.

关 键 词：潜水器 虚拟环境 避碰 仿真 VEGA 

分 类 号：U674.941[交通运输工程—船舶及航道工程]