A simulation tool to support the development of adaptive sampling algorithms for multiple autonomous underwater vehicles

2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578) Pub Date : 2004-06-17 DOI:10.1109/AUV.2004.1431203

C.J. Cannell, D. Stilwell, J. Austin

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引用次数: 8

Abstract

This paper describes a computer simulation tool designed to aid in the development and evaluation of adaptive sampling algorithms for one or more autonomous underwater vehicles. The principal design goals of this tool are to efficiently assess adaptive sampling algorithms using data generated from oceanographic numerical models, and to automate the processes of uploading and managing oceanographic data within the simulation tool. Oceanographic data is represented using the computer and model independent network common data form format, a self-documenting data format, which is widely used within the oceanographic community. The simulation tool is developed in MATLAB and Simulink, which are standard modeling and simulation tools used by control systems engineers as well as researchers across a wide variety of engineering disciplines. Use of the network common data form enables the simulation tool to use oceanographic data from a variety of ocean modeling systems, while the use of MATLAB enables control algorithms and vehicle dynamics to be modular and easily modified.

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一个仿真工具，支持多自主水下航行器自适应采样算法的发展

本文描述了一种计算机仿真工具，旨在帮助开发和评估一个或多个自主水下航行器的自适应采样算法。该工具的主要设计目标是利用海洋数值模型生成的数据有效地评估自适应采样算法，并在模拟工具中自动上传和管理海洋数据。海洋学数据采用独立于计算机和模型的网络通用数据格式表示，这是一种在海洋学界广泛使用的自记录数据格式。仿真工具是在MATLAB和Simulink中开发的，这是控制系统工程师以及各种工程学科的研究人员使用的标准建模和仿真工具。使用网络通用数据形式使仿真工具能够使用来自各种海洋建模系统的海洋数据，而使用MATLAB使控制算法和车辆动力学能够模块化并易于修改。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578)

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