무인잠수정 선단의 운동가시화를 위한 3D 그래픽 시뮬레이터의 개발

Abstract

This paper describes 3D graphic simulators to visualize the motion of the underwater vehicle. Reconstruction and replay of the underwater vehicle motion based on the data stored during both of the numerical simulation and the execution of mission, can help the analysis and development of control strategies for AUVs such as mission planning and fleet control algorithms. In this paper, two types of graphic simulators are implemented for off-line and on-line visualization of AUVs motions. The off-line simulator implemented by Visual C++ with DirectX is able to replay the motion of vehicles based on both of simulated and experimental motion data. The on-line simulator implemented by Matlab Simulink visualizes vehicles‘ motions in real-time while the dynamic equations are solved.