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Scientific Visualization
| Issue Year: | 2013 |
| Quarter: | 4 |
| Volume: | 5 |
| Number: | 4 |
| Pages: | 47 - 70 |
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| Article Name: |
SIMULATION SYSTEM FOR UNDERWATER RESEARCH VEHICLE |
| Authors: |
V. Bobkov (Russian Federation), M. Morozov (Russian Federation), A. Bagnitsky (Russian Federation), A. Inzartsev (Russian Federation), A. Pavin (Russian Federation), A. Scherbatyuk (Russian Federation), I. Tuphanov (Russian Federation) |
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The paper is recommended by program committee of 23rd International Conference on Computer Graphics and Vision GraphiCon’2013. |
| Address: |
V. Bobkov
bobkov@iacp.dvo.ru
Institute for Automation and Control Processes, Far Eastern Branch of the Russian Academy of Sciences, Vladivostok, Russian Federation
M. Morozov
Institute for Automation and Control Processes, Far Eastern Branch of the Russian Academy of Sciences, Vladivostok, Russian Federation
A. Bagnitsky
Institute of Marine Technology Problems, Far Eastern Branch of the Russian Academy of Sciences, Vladivostok, Russian Federation
A. Inzartsev
inzar@marine.febras.ru
Institute of Marine Technology Problems, Far Eastern Branch of the Russian Academy of Sciences, Vladivostok, Russian Federation
A. Pavin
Institute of Marine Technology Problems, Far Eastern Branch of the Russian Academy of Sciences, Vladivostok, Russian Federation
A. Scherbatyuk
alex-scherba@yandex.ru
Institute of Marine Technology Problems, Far Eastern Branch of the Russian Academy of Sciences, Vladivostok, Russian Federation
I. Tuphanov
Institute of Marine Technology Problems, Far Eastern Branch of the Russian Academy of Sciences, Vladivostok, Russian Federation |
| Abstract: |
The underwater robotics is actively used lately for the decision of wide circle of practically important tasks, including mapping, search-and-rescue operations, oceanological and ecological measuring, automatic inspection of underwater structures etc. The informatively-control system of autonomous underwater vehicle (AUV) executing similar operations must possess the developed intellectual possibilities and flexible growing functionality as far as appearance of new inspection tasks and board sensors. All functions and algorithms of this system must be tested before installing on the robot. The effective means of this aim achievement are development and use of simulation system, that, finally, allows to shorten organizational, financial and temporal expenses of actual tests realization. The simulation system is presented in this article. The system is intended for automation of the investigations related to the questions of control system development by motion of AUV and implementations of survey and inspection works. Fundamental characteristic of complex are the developed possibilities of graphic interactive interface, visualization and animation on all stages of functioning, that allows to estimate visually the efficiency of the offered solutions. A structure and functional possibilities of complex are described. An accent is done on facilities for underwater environment generation, hydroacoustic sensors simulation, method of AUV visual navigation and visual debugging of missions in the modeling environment. Examples of complex usage are made. Simulation technique, providing the imitation of underwater environment, video/sonar and some other AUV subsystems operation, is fixed on basis of simulation complex. It allows to conduct the research and to debug the methods of AUV management by "immersion" in environment of the complex. Ability of onboard software debugging in the environment of the modeling system was implemented using the abstract interfaces and “bridges” of serial interfaces. Computer graphics techniques and hardware capabilities of modern video accelerators are used for environment modeling and data simulation from the sonar. Obtained performance allows the underwater robot mission simulation in real time. Computer vision methods and non-linear optimization method were applied for calculation of the trajectory parameters in visual approach to AUV navigation. The original architectural decisions (abstract interfaces and "bridges" of serial interfaces) and simulation tools allow the software debugging onboard in the form that will be used in the AUV control system. Effectiveness of simulating complex has been confirmed by its successful application for investigation of visual navigation method, for visual debugging of missions and for modeling decision of practical task of pipeline inspection. |
| Language: |
Russian |
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