HoloOcean: An Underwater Robotics Simulator
HoloOcean: An Underwater Robotics Simulator
复制标题
HoloOcean：水下机器人模拟器
DOI：
10.1109/icra46639.2022.9812353
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发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Joshua G. Mangelson
中科院分区：
文献类型：
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作者：
Easton R. Potokar;Spencer Ashford;M. Kaess;Joshua G. Mangelson
由于水下现场试验的难度和费用，高保真度的水下模拟器是测试和开发算法的必要条件。为了满足这一需求，我们提出了holooocean，一个开源的水下模拟器，建立在虚幻引擎4 （UE4）。holooocean配备了多智能体支持，各种常见水下传感器的传感器实现，以及模拟通信支持。我们还实现了一种新的声纳传感器模型，该模型利用环境的八叉树表示来高效和逼真地生成声纳图像。由于是在UE4上构建的，所以可以直接添加新环境，从而可以轻松构建扩展。最后，holooocean通过一个简单的python接口进行控制，允许通过pip进行简单的安装，并且需要几行代码来执行模拟。
Due to the difficulty and expense of underwater field trials, a high fidelity underwater simulator is a necessity for testing and developing algorithms. To fill this need, we present HoloOcean, an open source underwater simulator, built upon Unreal Engine 4 (UE4). HoloOcean comes equipped with multi-agent support, various sensor implementations of common underwater sensors, and simulated communications support. We also implement a novel sonar sensor model that leverages an octree representation of the environment for efficient and realistic sonar imagery generation. Due to being built upon UE4, new environments are straightforward to add, enabling easy extensions to be built. Finally, HoloOcean is controlled via a simple python interface, allowing simple installation via pip, and requiring few lines of code to execute simulations.
影响因子：
9.2
作者：
Hartley, Ross;Ghaffari, Maani;Grizzle, Jessy W.
通讯作者：
Grizzle, Jessy W.