石鱼:一个先进的开源模拟工具,为海洋机器人设计,具有ROS接口

P. Cieślak
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引用次数: 28

摘要

海洋机器人学界缺乏用于科学研究的高质量模拟器,特别是在实际水下干预任务中测试控制和视觉算法时。目前使用的所有解决方案要么过时,要么试图结合不同的软件工具,这通常会导致糟糕的性能、稳定性问题和缺乏重要功能。本文提出了一种新的软件工具,专注于但不限于干预式自主水下航行器(I-AUV)的仿真。它提供了基于实际几何的先进流体动力学,水下传感器和执行器的模拟,以及水下环境和海洋表面的逼真渲染。它由一个用c++编写的库和一个机器人操作系统(ROS)包组成。
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Stonefish: An Advanced Open-Source Simulation Tool Designed for Marine Robotics, With a ROS Interface
The marine robotics community is lacking a high quality simulator for doing scientific research, especially when it comes to testing control and vision algorithms in realistic underwater intervention tasks. All of the solutions used today are either outdated or try to combine different software tools, which often results in bad performance, stability issues and lack of important features. This paper presents a new software tool, focused on, but not limited to, simulation of intervention autonomous underwater vehicles (I-AUV). It delivers advanced hydrodynamics based on actual geometry, simulation of underwater sensors and actuators, as well as realistic rendering of underwater environment and ocean surface. It consists of a library written in C++ and a Robot Operating System (ROS) package.
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