MATLAB下6自由度AUV的VRML建模及仿真  

VRML Modeling and Simulation of 6DOF AUV Based on MATLAB

作　　者：许喆[1] 严卫生[1] 高剑[1] 

机构地区：[1]西北工业大学航海学院,陕西西安710072

出　　处：《系统仿真学报》2007年第10期2241-2243,2271,共4页Journal of System Simulation

基　　金：新世纪优秀人才支持计划资助

摘　　要：传统航行器的控制仿真研究是用仿真曲线来校验其控制模型的正确性,而利用虚拟现实技术不仅可以校验模型的正确性,还能实现比较好的人机交互,并将水下作业的仿真过程及其仿真环境直观的表现出来。为了研究水下航行器的可视化仿真,介绍了在MATLAB环境下自主水下航行器的VRML建模问题,运用VRML构建水下航行器运行的虚拟场景,并在Simulink仿真环境下利用MATLAB虚拟现实工具箱实现对水下航行器视景仿真的应用。The traditional research on the simulation of AUV＇s controlling often uses simulative curves to check the accuracy of the model, but using virtual reality technology, we could not only check the accuracy of the model, but also implement good interaction between people and computer and describes the simulation process and simulation environment of underwater work directly. To research the visual simulation of AUV, this paper introduces the VRML modeling of AUV based on MATLAB, creates the virtual scene of AUV by VRML and inplements the visual simulation of AUV in Simulink environment using Virtual Reality Toolbox.

关 键 词：自主水下航行器 虚拟现实 MATLAB 虚拟现实建模语言 视号仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]