AUV Visual Simulation Technology

Because of its important application in underwater areas,AUVs(Autonomous Underwater Vehicles)have become the focus of research in various countries,the underwater robot visual simulation technology plays an important role in the study of the robot.The theory is based on the international underwater robot competition as real prototype with OpenGL graphics interfaces and the VS2010 platform for simulation,designed the virtual visual simulation system for this game,the system simulates the competition process vividly.The main contents of this paper are as follows:In the first place,combined with the design and develop background,on the basis of the needs of understanding international unmanned underwater robot competition standard rules,do an analysis of the simulation needs,then build the overall structure and module division for the simulation system and summarized the focal importants and difficulties.The next,research the key techniques and algorithms used in visual simulation,collision detection algorithm is used during the collision and obstacle avoidance task,using vector and numerical solution methods to solve the move position of the robot,using blanking and caching techniques to decide the mutual spatial relationship between objects,using texture mapping technology to complete the mapping of objects in the scene.Once more,the method of technology to achieve the conversion between a single view point,multi-view point,multi-angle,full range of dynamic observation is designed during the simulation,the local and global scene can be observed through switching the viewpoints.Under the virtual environment,the scene roaming can be realize by bounding the fixed viewpoint to the moving robot.Finally,by using the Visual C ++ platform,by means of OpenGL and 3DMax modeling tools to write the programs,we achieved the visual simulation of the robot.By adding the special effects in the simulation,the simulation scenario is becoming more realistic,smooth and attractive to people.Simulation results show that the simulation system interface is practical to achieve the basic functional requirements of the contest.Simulation model is reusable by using of the common design framework with a high degree of flexibility and portability,it is easy to expand during the subsequent development.