A virtual world for an autonomous underwater vehicle

摘要

... design and development. It is tremendously difficult to observe, communicate with and test underwater robots, because they operate in a remote and hazardous environment where physical dynamics and sensing modalities are counterintuitive. An underwater virtual world can comprehensively model all salient functional characteristics of the real world in real time. This virtual world is designed from the perspective of the robot, enabling realistic AUV evaluation and testing in the laboratory. Three-dimensional real-time computer graphics are our window into that virtual world. Visualization of robot interactions within a virtual world permits sophisticated analyses of robot performance that are otherwise unavailable. Sonar visualization permits researchers to accurately "look over the robot’s shoulder " or even "see through the robot’s eyes " to intuitively understand sensor-environment interactions. Extending the theoretical derivation of a set of six-degree-of-freedom hydrodynamics equations has provided a fully general physics-based model capable of producing highly non-linear yet experimentallyverifiable response in real time. Distribution of underwater virtual world components enables scalability and real-time response. The IEEE Distributed Interactive Simulation (DIS) protocol is used for compatible live interaction with other virtual worlds. Network connections allow remote access, demonstrated via Multicast Backbone (MBone) audio and video collaboration with researchers at remote locations. Integrating the World-Wide Web allows rapid access to resources distributed across the Internet. This dissertation presents the frontier of 3D real-time graphics to support underwater robotics, scientific ocean exploration, sonar visualization and worldwide collaboration.