Design And Implementation Of Parallel Physical Simulation Platform For Unmanned Surface Vehicle In Sea Environment

With the rapid development of unmanned surface vehicle(USV)swarm technology,the research and development and training of maritime unmanned system have become very important.An effective maritime unmanned system can break the limitations of a single USV’s capability and coordinate each USV in a cluster to stimulate the power of the whole cluster.However,the training of maritime unmanned system needs a lot of effective experimental data of USV.USV experimental data acquisition is inevitably limited by time,environment,manpower,financial resources and other factors.How to obtain massive training data in a short time with low cost will become a new challenge for the traditional USV training system.Based on the research and analysis of the USV training system,a simulation platform of the USV under the sea environment is proposed.Based on the modeling of the sea surface environment,the training simulation environment is constructed,and the USV is abstracted by the method of agent modeling,so that the simulation object can be unified and efficiently managed.Distributed architecture is used to deploy the simulation platform and the unmanned system to reduce the coupling degree between the simulation platform and the unmanned system and improve the reuse of the simulation platform.In order to reduce the development cost of the USV training system and improve the training efficiency of the USV system,the problem of obtaining less and difficult experimental data of the USV will be greatly solved.In view of the lack of authenticity of the training data generated by the simulation,this thesis proposes a parallel physical simulation based on the USV simulation platform.Firstly,the sea surface environmental factors are analyzed,and then the sea surface environment is modeled and simulated.The waves are simulated based on the Fourier transform,and the physical effects are calculated by using the physics engine.So the unmanned system can achieve the training effect in the traditional training system by means of the simulation platform training.For USV control interface and the sensory data cumbersome and complex problems,in this thesis,the USV control input and the output interface of the abstract,simplify the USV unmanned systems and simulation environment interact,both to ensure the interaction based on abstract interface does not affect the normal generation of training data,and ensure the training interaction within the system won’t be too complicated,balance the validity and practicability.Finally,this thesis verifies the function of the proposed simulation platform by setting up a comparative test,and compares the difference of data validity between parallel simulation and general simulation.Then,based on the scene of the USV cooperative confrontation,the simulation of the USV and the training of the unmanned system in the sea environment are realized,and the effectiveness and feasibility of the simulation platform are verified.