仿真水下与水面机器人系绳协同运动，真实还原海洋环境影响。
Tethered Multi-Robot Systems in Marine Environments
- 用GazeboSim加海况插件和ArduPilot SITL实现高保真仿真
- 融合悬链线方程与物理模拟，精准建模系绳动态交互
- 适合做水下机器人协同控制研究的开发者与工程师
本文提出一种新型仿真框架，用于评估系绳多机器人系统在动态海洋环境中的运动控制性能。重点研究自主水下航行器（AUV）与自主水面航行器（ASV）的协同操作。该框架基于增强版GazeboSim，集成真实海洋环境插件及ArduPilot软件在回路（SITL）模式，构建高保真仿真平台。通过结合悬链线方程与物理仿真，构建详细系绳模型，准确表征车辆与环境间的动态相互作用。该设置支持在真实条件下开发与测试先进控制策略，验证了框架分析复杂系绳交互及其对系统性能影响的能力。
原文摘要 · Abstract (English)
This paper introduces a novel simulation framework for evaluating motion control in tethered multi-robot systems within dynamic marine environments. Specifically, it focuses on the coordinated operation of an Autonomous Underwater Vehicle (AUV) and an Autonomous Surface Vehicle(ASV). The framework leverages GazeboSim, enhanced with realistic marine environment plugins and ArduPilots SoftwareIn-The-Loop (SITL) mode, to provide a high-fidelity simulation platform. A detailed tether model, combining catenary equations and physical simulation, is integrated to accurately represent the dynamic interactions between the vehicles and the environment. This setup facilitates the development and testing of advanced control strategies under realistic conditions, demonstrating the frameworks capability to analyze complex tether interactions and their impact on system performance.
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