A Virtual-Reality-based Simulation Environment for Multi-AUV Systems

Today, with the development of Autonomous Underwater Vehicle (AUV) technology, AUV formation control has become an important research direction. However, due to the physical cost limitation, large-scale AUV formation experiments are difficult to carry out. To solve this problem, a multi-AUV Virtual-Reality Combined Formation Simulation System is proposed in this paper. The system provides a cost-effective solution for large-scale AUV formation experiments and a platform for the design and validation of formation algorithms by combining virtual and real vehicles under the premise that the number of real vehicles is limited. Firstly, a highly realistic AUV virtual simulation environment is constructed by using computer graphics and virtual reality technology, and the simulation AUV model is constructed by accurately modeling the physical characteristics and behaviors of the AUV; secondly, the position and state information of the real vehicle is transmitted to the simulation system in real time to drive the simulation AUV motion, and to realize the interaction between the virtual simulation and the real hardware; lastly, a series of experiments and evaluations are carried out based on this simulation system. A series of experiments and evaluations were conducted based on the simulation system. Finally, a series of experiments and evaluations are carried out based on the Virtual-Reality Combined Formation Simulation System. The experimental results show that the Multi-AUV Virtual-Reality Combined Formation Simulation System proposed in this paper not only reduces the cost, but also improves the accuracy of the algorithm design, which is of wide application prospects and research value.