AUV test using real/virtual synthetic world

摘要

This paper proposes a method for the research of underwater robots using technique of testing real/virtual synthetic world. The world which is virtually created using the sensory information of both the real and a virtual world is called "synthetic world." In this world, the robots behave as if they were swimming in the underwater-world even in the case they are deployed in a simple shaped testing-pool. By testing in the synthetic world, the efficiency of underwater systems' development is improved because the software can be developed directly on the embedded computer system and the hardware and software cross-checking can be easily conducted. This paper shows the detailed descriptions and unique characteristics of the proposed testing method and the practical example for underwater robots.