一个用于无人潜水器群控制集成实验系统
Yutao Chen1, Xingwei Zhou2, Wenshan Hu2
1Naval University of Engineering, Wuhan 430030, China.
Sensors (Basel, Switzerland)
|October 29, 2025
概括
开发无人驾驶水下车辆 (UUV) 群体控制是复杂的. 一个集成的框架简化了UUV群发展,将部署时间缩短了80%.
科学领域:
- 机器人技术和自主系统
- 海洋工程 海洋工程
- 计算机科学 计算机科学
背景情况:
- 无人驾驶水下车辆 (UUV) 群对水下勘探至关重要,比单一车辆提供优势.
- 开发UUV群控制是具有挑战性的,因为缺乏整合的工具链,用于全球设计和个别实施.
- 单个UUVs的全局方案的手动分区导致了开发中的显著效率损失.
研究的目的:
- 开发一个完整的UUV群控制开发工作流程的综合实验框架.
- 通过统一算法设计,模拟,代码生成和部署来解决UUV群控制的复杂性.
- 为了减少与手动开发流程相关的大量效率损失.
主要方法:
- 开发了一个集成的平台,有三个核心组件:全球模拟,快速原型和数字双胞胎可视化.
- 全球模拟环境允许对群体集体行为进行虚拟验证.
- 快速原型模块可实现自动代码生成和分区,用于单个UUV实现,通过数字双胞胎可视化实时监控的支持.
主要成果:
- 该平台成功地将全球设计与个人UUV实施相结合.
- 一个案例研究表明,从算法设计到部署的开发时间从估计的6小时减少到不到1小时.
- 这意味着UUV群控制系统的开发时间减少了大约80%.
结论:
- 综合框架显著提高了UUV群控制开发的效率.
- 该平台通过提供统一的方法来解决现有工具链的局限性.
- 这一进步有助于更快,更有效地部署协调的UUV系统,用于各种应用.
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