基于Unity3D的水下机器人半实物仿真系统  

Hardware-in-the-Loop Simulation System for Underwater Vehicle Based on Unity3D

作　　者：任福深[1] 孙雅琪 胡庆[1] 李兆亮 孙鹏宇 范玉坤 Ren Fushen;Sun Yaqi;Hu Qing;Li Zhaoliang;Sun Pengyu;Fan Yukun(Northeast Petroleum University,Daqing 163318,China)

机构地区：[1]东北石油大学,黑龙江大庆163318

出　　处：《系统仿真学报》2020年第8期1546-1555,共10页Journal of System Simulation

基　　金：中国石油天然气集团公司科学研究与技术开发项目(2019A-1013)。

摘　　要：基于Unity3D研制了一种由地面控制终端、机器人本体和三维仿真系统3部分组成的水下机器人半实物仿真系统,为水下机器人开发过程中的性能测试、控制算法分析和人员操作培训提供了仿真和测试平台。该系统采用同一地面控制终端作为三维仿真系统和机器人控制系统的统一指令输入源,以实现虚拟对象和机器人本体的同步工作,可对系统进行实时监测、调参。采用多目视觉技术对机器人位置采集,对传感器数据进行卡尔曼滤波处理。机器人运动仿真试验结果表明,机器人实际运动路径和仿真规划路径基本相同,该系统动态响应性和控制系统同步性较好。In order to provide a simulation and test platform for the performance test,control algorithm analysis and operation training of underwater robot,a hardware-in-the-loop simulation system based on Unity3 D is developed,which consists of a ground control terminal,a robot body and a three-dimensional simulation system.The system uses the same ground control terminal as the unified command input source of the three-dimensional simulation system and robot control system,and realizes the synchronization of the virtual object and robot body,real-time monitoring and parameters adjustment to the system.The position of the robot is collected by multiocular vision technology,and Kalman filtering processing is carried out on sensor data.The robot motion simulation results show that the actual motion path of the robot is basically the same as the simulation planning path,and the hardware-in-the-loop simulation system has good dynamic response and control system synchronization.

关 键 词：半实物仿真 UNITY3D 控制系统 水下机器人 实时交互 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]