对比5个开源水下机器人仿真平台，助你选对工具开发自主系统。
Underwater Robotic Simulators Review for Autonomous System Development
- 对比石鱼、DAVE等5个兼容ROS的开源水下仿真器。
- 评估传感器精度、环境真实度及从仿真到现实的迁移能力。
- 适合水下机器人研发者参考，推动仿真标准统一。
水下机器人系统复杂度不断提升，催生了大量用于支持海洋环境中感知、规划与控制任务的仿真平台。然而，由于保真度、可扩展性和任务适配性差异大，选择合适的水下机器人仿真器（URS）仍具挑战。本文综述并对比分析了五个最先进的、兼容ROS的开源URS：Stonefish、DAVE、HoloOcean、MARUS和UNav-Sim。从架构设计、传感器与物理建模、任务能力及研究影响力等多个维度进行评估。同时讨论了仿真到现实迁移中的现存挑战，并强调该领域亟需标准化与基准测试。研究成果旨在指导实践者选择高效仿真环境，推动更鲁棒、可迁移的URS未来发展。
原文摘要 · Abstract (English)
The increasing complexity of underwater robotic systems has led to a surge in simulation platforms designed to support perception, planning, and control tasks in marine environments. However, selecting the most appropriate underwater robotic simulator (URS) remains a challenge due to wide variations in fidelity, extensibility, and task suitability. This paper presents a comprehensive review and comparative analysis of five state-of-the-art, ROS-compatible, open-source URSs: Stonefish, DAVE, HoloOcean, MARUS, and UNav-Sim. Each simulator is evaluated across multiple criteria including sensor fidelity, environmental realism, sim-to-real capabilities, and research impact. We evaluate them across architectural design, sensor and physics modeling, task capabilities, and research impact. Additionally, we discuss ongoing challenges in sim-to-real transfer and highlight the need for standardization and benchmarking in the field. Our findings aim to guide practitioners in selecting effective simulation environments and inform future development of more robust and transferable URSs.
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