The Design And Realization Of Simulation Platform For Underwater Path Planning

The underwater path planning is the key technology to underwater vehicle mission system. The traditional method of describing ocean geographic environment is difficult to provide intuitionistic underwater terrain information for path planning. The actual data of underwater terrain and the visual simulating is needed in underwater vehicle path planning research.According to the analysis of the process of underwater path planning, this paper designs a visual simulating platform. The platform can provide actual terrain data and underwater scene simulating to make underwater path planning research easier.Firstly, utilizing UML, the analyses and design of simulating platform is completed, and the use case diagram, class diagram, sequence diagram and activity diagram of the system are modeled.Secondly, 3D terrain creation method based on real data measured is studied. The shapefile chart is used as the real underwater terrain data source. DP algorithms and Nature neighbor interpolation (NNI) is used to change the data source to DEM (Digital Terrain Model).Thirdly, some application backgrounds of the real-time rendering of underwater terrain are studied. Two fundamental strategies to accelerate the rendering procedure are pointed out, VSD (Visible-Surface Detection) and LOD (Level of Detail). Then a novel method for real-time mufti-resolution modeling is proposed. In this method the height of underwater vehicle is considered when choosing an appropriate level of detail. According to the test result, the new method stored and computed efficiently.At last, the underwater vehicle path planning simulating platform is developed with VC++ and OpenGL on the Windows system.