{"title":"石鱼:一个先进的开源模拟工具,为海洋机器人设计,具有ROS接口","authors":"P. Cieślak","doi":"10.1109/OCEANSE.2019.8867434","DOIUrl":null,"url":null,"abstract":"The marine robotics community is lacking a high quality simulator for doing scientific research, especially when it comes to testing control and vision algorithms in realistic underwater intervention tasks. All of the solutions used today are either outdated or try to combine different software tools, which often results in bad performance, stability issues and lack of important features. This paper presents a new software tool, focused on, but not limited to, simulation of intervention autonomous underwater vehicles (I-AUV). It delivers advanced hydrodynamics based on actual geometry, simulation of underwater sensors and actuators, as well as realistic rendering of underwater environment and ocean surface. It consists of a library written in C++ and a Robot Operating System (ROS) package.","PeriodicalId":375793,"journal":{"name":"OCEANS 2019 - Marseille","volume":"26 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"28","resultStr":"{\"title\":\"Stonefish: An Advanced Open-Source Simulation Tool Designed for Marine Robotics, With a ROS Interface\",\"authors\":\"P. Cieślak\",\"doi\":\"10.1109/OCEANSE.2019.8867434\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The marine robotics community is lacking a high quality simulator for doing scientific research, especially when it comes to testing control and vision algorithms in realistic underwater intervention tasks. All of the solutions used today are either outdated or try to combine different software tools, which often results in bad performance, stability issues and lack of important features. This paper presents a new software tool, focused on, but not limited to, simulation of intervention autonomous underwater vehicles (I-AUV). It delivers advanced hydrodynamics based on actual geometry, simulation of underwater sensors and actuators, as well as realistic rendering of underwater environment and ocean surface. It consists of a library written in C++ and a Robot Operating System (ROS) package.\",\"PeriodicalId\":375793,\"journal\":{\"name\":\"OCEANS 2019 - Marseille\",\"volume\":\"26 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-06-17\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"28\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"OCEANS 2019 - Marseille\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/OCEANSE.2019.8867434\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"OCEANS 2019 - Marseille","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/OCEANSE.2019.8867434","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Stonefish: An Advanced Open-Source Simulation Tool Designed for Marine Robotics, With a ROS Interface
The marine robotics community is lacking a high quality simulator for doing scientific research, especially when it comes to testing control and vision algorithms in realistic underwater intervention tasks. All of the solutions used today are either outdated or try to combine different software tools, which often results in bad performance, stability issues and lack of important features. This paper presents a new software tool, focused on, but not limited to, simulation of intervention autonomous underwater vehicles (I-AUV). It delivers advanced hydrodynamics based on actual geometry, simulation of underwater sensors and actuators, as well as realistic rendering of underwater environment and ocean surface. It consists of a library written in C++ and a Robot Operating System (ROS) package.