A virtual-environment-based testbed offers an alternative to difficult, costly, and possibly hazardous real-time testing and evaluation of control algorithms for AUVs (Autonomous Underwater Vehicles). Various methods are used in the testbed to model the vehicle and its environment. Pertinent control algorithms are integrated with the testbed through sensor and control interfaces. A review of selected virtual environment testbeds and related standards is provided. Some implementation issues and results are discussed. A path-planning algorithm is described to illustrate this approach.
Virtual environment testbed for autonomous underwater vehicles
Eine virtuelle Simulationsumgebung für fahrerlose Unterwasserfahrzeuge
Control Engineering Practice ; 6 , 5 ; 653-660
1998
8 Seiten, 6 Bilder, 20 Quellen
Aufsatz (Zeitschrift)
Englisch
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