自主式无人潜航器半实物仿真系统应用研究Application study on the semi physical simulation system of autonomous underwater vehicle
陈衡,刘兵
摘要(Abstract)：
设计了适应自主式无人潜航器仿真需求的半实物仿真系统,并通过进行自主避障仿真试验和远距离航行仿真试验,检验了软件算法逻辑及系统数据接口。在很大程度上验证了软硬件体系结构的可靠性,为自主式无人潜航器的实际应用提供重要参考。
关键词(KeyWords)： 半实物仿真;自主式无人潜航器;硬件体系;软件体系
基金项目(Foundation): 淮北职业技术学院自然科学基金项目“智能无人潜器运动控制系统体系结构研究”(项目编号:2012-A-26)
作者(Author): 陈衡,刘兵
DOI: 10.13391/j.cnki.issn.1674-7798.2013.06.011
参考文献(References)：
- [1]徐玉如,庞永杰,甘永,等.智能水下机器人技术展望[J].智能系统学报,2006,1(1):9-16.
- [2]Kim T.W.,Yuh J.Development of a Real-time Con-trol Architecture for a Semi-autonomous Underwater Ve-hicle for Intervention Missions[J].Control EngineeringPractice,2004,12(12):1521-30.
- [3]Liu Haibo,Gu Guochang,Shen Jing,et al.Neuropsy-chology-inspired Architecture for AUV[J].In:Pro-ceedings of 2005 International Conference on Neural Net-works and Brain,2005:910-914.
- [4]Li Ye,Liu Jian-Cheng,Shen Ming-Xue.DynamicsModel of Underwater Robot Motion Control in 6 Degreesof Freedom[J].Journal of Harbin Institute of Technolo-gy,2005,12(4):456-459.
- [5]Isaacson M.,Subbiah K.Numerical Simulation of Ran-dom Wave Forces near the Free Surface[J].Journal ofOffshore Mechanics and Arctic Engineering,1991,113(1):14-22.
- [6]赵加敏,徐玉如,雷磊.用于水下机器人智能路径规划的仿真器的建立[J].系统仿真学报,200416(11):2448-2450.
- [7]陈智育,温彦军,陈琪.VxWorks程序开发实践[M].北京:人民邮电出版社,2004:107-229.