水面无人艇协同仿真平台设计方法  

Research on the platform design method of a USV collaborative simulation

作　　者：王卓 冯晓宁[2] 万磊 庞永杰 

机构地区：[1]哈尔滨工程大学水下机器人技术国防科技重点实验室,黑龙江哈尔滨150001 [2]哈尔滨工程大学计算机科学与技术学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2012年第3期275-282,共8页Journal of Harbin Engineering University

基　　金：国家自然科学基金资助项目(61100006);水下智能机器人技术国防科技重点实验室开放课题研究基金资助项目(2010004);黑龙江省青年科学基金资助项目(2007Q0502-00);哈尔滨市青年科学基金资助项目(RC2009QN010039);哈尔滨工程大学校基础研究基金资助项目(002060260722)

摘　　要：针对水面无人艇仿真的实际应用,引入协同仿真技术,提出了水面无人艇协同仿真框架和配套的开发方法.阐述了该平台的体系结构和信息流程,对运动控制的协同仿真模型进行了说明,在建立的仿真系统中进行了航线跟踪和自主航行的仿真试验,验证了协同仿真框架及开发方法的可行性和正确性.该协同仿真平台克服单一模型难以精确描述非线性关系的问题,在一定程度上提高仿真可信度,对保障海试的顺利进行具有重要的价值.According to the practical application of USV simulation,collaborative simulation was used to solve existing problems.A USV collaborative simulation architecture and development method was provided.The architecture structure and the information transfer process of the platform were described.Additionally,the hydrodynamic collaborative simulation model was described.Finally,a sea route track simulation test and automatic navigation simulation test were conducted.The feasibility and validity of the collaborative simulation framework and development method were validated.The problem of a single model not being able to accurately describe nonlinear computing was solved by the collaborative simulation platform.The collaborative simulation platform improves the simulation reliability to a certain extent,and it plays an important part in ensuring the success of sea trials.

关 键 词：水面无人艇 协同仿真 体系结构 运动控制仿真 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]