Modelling and simulation of underwater vehicles
Modelling and simulation of underwater vehicles
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DOI：
10.1109/cacsd.1996.555198
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发表时间：
1996-09
期刊：
影响因子：
--
通讯作者：
G. Conte;A. Serrani
中科院分区：
文献类型：
--
作者：
G. Conte;A. Serrani
本文介绍了一种用于水下自动化的综合计算机仿真软件包。水下机器人是勘探和开发海底资源的主要工具。由于离岸海岸试验的高成本，在无人水下航行器控制结构设计过程中，计算机仿真占据了绝对的优先地位，需要高效可靠的仿真程序。本文的主要重点是水下航行器动力学的一般模型的描述，其实施作为一个模块化的结构的背景下，一个集成的环境中的开发和测试的指导和控制系统的水下自主航行器。
The paper describes an integrated computer simulation package for underwater automation. Underwater vehicles are the main tools in exploring and exploiting subsea resources. As a result of the high cost of off shore tests, computer simulation has gained absolute priority in the process of designing control architectures for unmanned underwater vehicles, and efficient and reliable simulations programs are needed. The main focus of the paper is to the description of a general model for underwater vehicles dynamics, and its implementation as a modular structure in the context of an integrated environment for the development and testing of guidance and control system for underwater autonomous vehicles.