基于局域网的多水下机器人仿真系统设计与实现

多水下机器人仿真系统是一个能够对多水下机器人系统的体系结构、协调控制、路径规划、学习算法等进行演示验证的分布式实时数字仿真系统,是开展多水下机器人技术研究的基础和有效手段.讨论了应用基于局域网的分布式仿真技术来解决多水下机器人系统仿真的问题,并详细说明了仿真系统的硬件组成和软件总体设计.

The presented multiple underwater vehicle simulation system(MUVSS) is a distributed real-time digital simulation system that is used for the demonstration of the control architecture,cooperative control,path planning,learning algorithm of multiple underwater vehicle system(MUVS).The system will be the base and effective method for the development of multiple underwater vehicle technology.This paper discusses the ways to implement MUVS simulation by using the distributed simulation technology cased on LAN,and presents the hardware and software of the system in detail.