基于Vega Prime的多水下机器人视景仿真系统的设计与实现

介绍了一套多水下机器人三维视景仿真系统。该系统采用虚拟现实技术，利用虚拟仿真软件VegaPrime 与Visual C++.NET 2003 混合编程实现三维视景仿真。它主要用于海洋环境的模拟和多水下机器人运行时的位姿更新、碰撞检测、环境效果及各种特效的实时显示。此外，它还具有响应各种输入/输出设备的功能和通过人性化图形界面接口与用户进行交互的功能。

This paper introduces a set of visualization simulation system for multiple unmanned underwater vehicles in three dimensions. The system adopts virtual reality (VR) technology through programming with mixed Vega Prime software and Visual C++.NET 2003. It is mainly used for simulating marine environment, updating model position and orientation, collision detection, and real-time displays of all kinds of effects. In addition, it also has the ability of responding to all kinds of input or output devices, and interacts with users through humanistic graphical interface.

国家863 计划资助项目（2006AA04Z262）；国家自然科学基金资助项目（60775061）