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Testing-Oriented Simulator for Autonomous Underwater Vehicles

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Proceedings of 2013 Chinese Intelligent Automation Conference

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 255))

Abstract

Over the past decade, there has been a growing interest in utilizing formation control and path planning in autonomous underwater vehicles (AUVs) designs. In this paper we present a novel method to create an AUV simulator using the Hardware in the Loop Simulation (HILS) and Virtual Reality (VR). The developed setup offers an alternative to difficult, costly, and possibly hazardous real-time testing and validation of formation control or path planning algorithms for autonomous underwater vehicles. The hardware of the platform is provided with data flow, followed by detailed descriptions of the AUV sensor models that are employed. An example of fuzzy algorithm development obstacle avoidance system is also described. Experimental results are presented showing the feasibility of methods. Finally, the suggestion of the hardware-in-loop simulator is given.

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References

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Author information

Authors and Affiliations

  1. Chinese People’s Armed Police Force Engineering University, Xi’an, China

    Jinhua Wang & Yongzhong Ma

Authors
  1. Jinhua Wang
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  2. Yongzhong Ma
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Corresponding author

Correspondence to Jinhua Wang .

Editor information

Editors and Affiliations

  1. Department of Computer Science, Tsinghua University, Beijing, China, People's Republic

    Zengqi Sun

  2. Tsinghua University, Beijing, China, People's Republic

    Zhidong Deng

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© 2013 Springer-Verlag Berlin Heidelberg

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Cite this paper

Wang, J., Ma, Y. (2013). Testing-Oriented Simulator for Autonomous Underwater Vehicles. In: Sun, Z., Deng, Z. (eds) Proceedings of 2013 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol 255. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-38460-8_32

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  • DOI: https://doi.org/10.1007/978-3-642-38460-8_32

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-38459-2

  • Online ISBN: 978-3-642-38460-8

  • eBook Packages: EngineeringEngineering (R0)

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