A Study on the Digital Twin Modeling of an Underwater Tracked Vehicle Based on the Multibody Dynamics

Abstract

In the field of underwater robots, Remotely Operated Vehicle (ROV) operators are seriously affected by the possibility of remote control by dust generated during submarine work. Thus, research on Cyber-Physical Operation Systems (CPOSs) has been conducted to improve remote controllability. The CPOS consists of a real-time physical engine, real-time visualization with VR, and Human-in-the-loop simulation. The purpose of this paper is to study the digital twin modeling of a real-time physics engine for a CPOS. Accordingly, a thorough analysis of an ROV's dynamic modeling based on multibody dynamics and their controller, which include velocity and attitude control, was conducted. Additionally, a virtual sensor model of multibeam echosounder (MBES) to be integrated with the digital twin model was developed and co-simulated. ？ ICROS 2022.