Research And Implementation Of Underwater Vehicle 3D Motion Scene Construction Technology

There are abundant resources in the ocean.With the exhaustion of land resources,the ocean has gradually become an important base for human sustainable development.The ocean is the hope of human future.Underwater Vehicle is an important tool for human to explore and develop the ocean.Underwater Vehicle is helpful to help people develop ocean resources efficiently.Therefore,it is of far-reaching significance to study the Underwater Vehicle.This paper mainly studies the motion control of Underwater Vehicle and remote monitoring system of three-dimensional virtual scene.The motion control of Underwater Vehicle aims at discussing the basic principle of fuzzy PID control,designing and completing the simulation experiment of Underwater Vehicle motion control based on fuzzy PID control,and introducing the ROS of robot operation system to realize the visual simulation of the combination of MATLAB and ROS.The remote monitoring system of three-dimensional virtual scene is based on three-dimensional rendering engine OSG to realize three-dimensional motion scene of Underwater Vehicle.The motion control technology of Underwater Vehicle is one of the hotspots in the research field of Underwater Vehicle technology.The Underwater Vehicle itself has a high cost and works in complex underwater environment.It is particularly important to ensure the safety and reliability of the Underwater Vehicle.The stable and reliable motion control is the premise and guarantee of underwater safe operation.In this paper,the motion control of underwater robot based on fuzzy PID is mainly studied.The research contents: analyzing the kinematics theory of the Underwater Vehicle,establishing the six-degree-of-freedom motion simulation system of the Underwater Vehicle,designing the fuzzy-PID controller,and designing and realizing the motion simulation experiment of the Underwater Vehicle.In order to realize the visualization of simulation,ROS and Gazebo are used.Build underwater vehicle model and motion scene model in Gazebo simulator.Cooperative Work with Robot Operating System ROS Using MATLAB,Subscription and Publishing Module of Introducing ROS Topic in MATLAB to realize the transmission of control data and the reception of trajectory feedback data.Thus,realize the visual simulation of MATLAB combined with ROS.The remote monitoring system of three-dimensional virtual scene is mainly used to solve the problem of Underwater Vehicle's weak observation.In the three-dimensional virtual scene,the position and movement posture of Underwater Vehicle can be displayed in real time,and the safety and reliability of underwater operation of Underwater Vehicle can be improved.In this paper,by studying the method of three-dimensional graphics display,the display and rendering of threedimensional model of Underwater Vehicle are completed,the underwater topographic map is created and completed,the mapping of texture image to underwater topographic map is realized.The remote monitoring system of three-dimensional virtual scene of Underwater Vehicle is designed and implemented.