基于ROS和Gazebo的混合自主水下航行器仿真

2021 International Conference on Advanced Technologies for Communications (ATC) Pub Date : 2021-10-14 DOI:10.1109/atc52653.2021.9598242

Andy T. Ngo, Ngoc-Huy Tran, T. Ton, Hung-Cuong Nguyen, T. Tran

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引用次数: 4

摘要

仿真是自动驾驶汽车算法测试的关键环节。此外，模拟还有助于观察经验实验之前可能出现的误差，从而优化研究人员的时间和精力。本文将阐述混合自主水下航行器(AUV)的仿真方法，这是一种基于机器人操作系统(ROS)和Gazebo的新型水下航行器平台。Gazebo将通过计算水动力和静水力的影响，执行器的客观关系以及传感器仿真来模拟AUV的三维行为和运动，其中ROS用于控制算法的开发。

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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Simulation of Hybrid Autonomous Underwater Vehicle based on ROS and Gazebo

Simulation is a crucial task in algorithm testing for autonomous vehicles. Furthermore, simulation also helps to observe the possible errors precedent to the empirical experiment, thus optimizing the time and effort of researchers. This paper will illustrate the simulation method of Hybrid Autonomous Underwater Vehicle(AUV), a new AUV platform utilizing Robotic Operating System (ROS) and Gazebo. Gazebo will simulate 3D behaviors and movements of AUV based on calculations regarding the effect of hydrodynamic and hydrostatic force, the objective relation of the actuator as well as the sensor simulation, in which ROS is used for control algorithm development.

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2021 International Conference on Advanced Technologies for Communications (ATC)

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