复杂海洋环境下无人船仿真教学平台设计  

Design of Simulator Teaching Platform for Unmanned Surface Vessel with Complex Marine Environment

作　　者：吕成兴 王子晨 于海生[2] 陈健 杨智博 LÜChengxing;WANG Zichen;YU Haisheng;CHEN Jian;YANG Zhibo(School of Information and Control Engineering,Qingdao University of Technology,Qingdao 266520,Shandong,China;School of Automation,Qingdao University,Qingdao 266071,Shandong,China)

机构地区：[1]青岛理工大学信息与控制工程学院,山东青岛266520 [2]青岛大学自动化学院,山东青岛266071

出　　处：《实验室研究与探索》2024年第3期68-72,145,共6页Research and Exploration In Laboratory

基　　金：国家自然科学基金项目(62273189);山东省自然科学基金项目(ZR2023MF032,ZR2021MF005,ZR2023MF017);山东省重大创新工程项目(2022CXGC010608);教育部产学协同育人项目(220500895313714);青岛理工大学本科教学改革与研究项目(F2022-141,F2022-144);青岛市关键技术攻关及产业化示范类项目(23-1-2-qljh-6-gx,23-2-1-154-zyyd-jch)。

摘　　要：针对机器人工程专业在移动机器人控制领域的理论与实践相结合的教学需求,利用机器人操作系统和Gazebo物理仿真引擎以及USVSim仿真平台,开发复杂海洋环境下无人船仿真教学平台。该平台实现了无人船的模型搭建、海洋环境扰动模拟、模型动力学参数辨识以及控制算法验证等功能。通过无人船仿真场景实验,表明了该仿真教学平台的可靠性与有效性,可弥补实验教学的不足,培养学生应对现实工程挑战的能力。A realistic simulator for an unmanned surface vessel with complex environmental disturbances is designed to address combining theory and practical capabilities of robot engineering.It is developed by using ROS,Gazebo and USVSim to simualte the enviromental forces such as wind,current,and waves.Simulator has the ability to perform various tasks,such as model construnction,simualiton of marine environment disturbances,identification of dynamic parameters,and verification of control algorithms,etc.The reliability and effectiveness of the realistic teaching simulator are proved by the designed scenario experiments.It bridges the gap in laboratory teaching and develops students'ability to cope with real world engineering challenges.

关 键 词：无人船 物理仿真平台 复杂环境扰动 机器人操作系统 

分 类 号：G64[文化科学—高等教育学]