多水下机器人系统水动力计算的多线程实现

介绍多水下机器人(UUV)数字仿真平台的硬件结构以及单体UUV和多UUV系统的水动力计算流程,在此基础上利用Windows多线程技术实现多UUV的水动力计算,该方法已经用于多UUV数字仿真平台虚拟环境节点的设计中。系统仿真实验表明该方法设计的应用程序具有良好的执行效率和实时响应能力,为以后多UUV半物理仿真平台的水动力计算和实体多UUV系统水动力系数的验证奠定了基础。

The hardware structure of the digital multiple UUVs simulate platform and the flow of hydrodynamic calculation of single UUV and multiple UUVs are introduced,and based on these analyses,the hydrodynamic calculation is implemented for multiple UUVs using Windows multithreads technology.This method has been applied in the digital multiple UUVs simulate platform for virtual environment node design and has been well validated.The system simulation experiment has shown that the program has good efficiency of execution and real-time response ability which is designed by this method,and established the foundation for hydrodynamic calculation for bat-physical multiple UUVs simulate platform and for validation of hydrodynamic efficiency in real multiple UUVs system in the future.

国家863高科技发展计划资助项目(2006AA04Z262)