doi:
UDK: 681.5

DEVELOPMENT OF A SIMULATOR FOR MODELING AUTONOMOUS UNDERWATER VEHICLE’S CONTROLLED MOVEMENT

Сиек Ю. Л., Журкин П. О., Борисов А. Н.
Article language: английский

Annotation

The article deals with the development of a simulator for modeling the controlled movement of an autonomous underwater vehicle (AUV). The need to develop realistic simulation tools is justified by the application of computer modeling in the development of AUV and its components, including the algorithm software of the information and control system. The article analyzes similar software products, which can be conditionally divided into three groups: specialized simulators, universal game engines and physical simulation libraries. The advantages and disadvantages of the most prominent examples of software from these categories are investigated. It is concluded that it is necessary to develop our own graphic simulator. Based on the analysis of analogues the software architecture including three components is developed: physical modeling module, visualization module and control system module. A generalized mathematical model of the dynamics of AUV controlled motion in the fluid, used in the construction of the physical modeling module, is given. Tools for developing three-dimensional models for the simulator that can be both active (AUV, surface vessels, animals) and passive (bottom topography, pipelines, submerged objects) are investigated. To demonstrate the capabilities of the developed simulator, simulation results are given for different regimes, including search maneuvers in the form of meander and snaking motion. Particular attention is paid to simulation of movement in an underice environment and algorithms for finding ice floes Keywords: AUV, motion control system, simulator, simulation modeling, OpenGL, trajectory examination

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