打造可自主控制的水下滑翔机仿真系统，加速算法开发与测试。
UGSim: Autonomous Buoyancy-Driven Underwater Glider Simulator with LQR Control Strategy and Recursive Guidance System
- 基于LQR控制与递归引导策略，模拟浮力驱动滑翔机运动。
- 支持Petrel-II滑翔机配置，验证控制与导航性能。
- 专为水下复杂流体环境设计，替代昂贵海试实验。
本文提出UGSim，一个面向浮力驱动滑翔机的仿真平台，集成LQR控制策略与递归引导系统。基于DAVE与UUVsim构建，专门应对传统机器人仿真器难以处理的复杂流体动力学与静力学影响。由于此类航行器具有独特特性，通用水下机器人控制器与引导系统均不适用。该仿真器可加速算法开发与评估，避免昂贵且耗时的海上试验。系统包含基础运动模块、LQR控制模块与递归引导模块，使用户能聚焦单一问题而非整个机器人系统与软件架构。通过加载名为Petrel-II的浮力驱动滑翔机配置，演示其动力学仿真、控制策略与引导系统性能。
原文摘要 · Abstract (English)
This paper presents the UGSim, a simulator for buoyancy-driven gliders, with a LQR control strategy, and a recursive guidance system. Building on the top of the DAVE and the UUVsim, it is designed to address unique challenges that come from the complex hydrodynamic and hydrostatic impacts on buoyancy-driven gliders, which conventional robotics simulators can't deal with. Since distinguishing features of the class of vehicles, general controllers and guidance systems developed for underwater robotics are infeasible. The simulator is provided to accelerate the development and the evaluation of algorithms that would otherwise require expensive and time-consuming operations at sea. It consists of a basic kinetic module, a LQR control module and a recursive guidance module, which allows the user to concentrate on the single problem rather than the whole robotics system and the software infrastructure. We demonstrate the usage of the simulator through an example, loading the configuration of the buoyancy-driven glider named Petrel-II, presenting its dynamics simulation, performances of the control strategy and the guidance system.
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