用凸包法实时计算水下机器人浸没体积，提升仿真精度。
Real-Time Buoyancy Estimation for AUV Simulations Using Convex Hull-Based Submerged Volume Calculation
- 基于凸包提取模型与水面交线，动态计算浸没体积。
- 支持姿态、深度及±0.3米波浪波动下的实时更新。
- 无需预设水动力模型，适合水下机器人仿真研究。
高保真自主水下航行器（AUV）仿真需要精确的实时浮力建模，但NVIDIA Isaac Sim缺乏原生浮力系统，需依赖外部方案实现精准水下物理模拟。本文提出一种基于凸包的新型方法，可实时动态计算AUV的浸没体积。通过从仿真环境提取网格几何，并计算沿z轴与水面相交的壳体部分，该方法在精度上优于传统几何近似。引入横截面面积扩展以降低计算开销，实现高效浮力更新，能适应姿态、深度及±0.3米正弦波波动变化。在为SAUVC 2025设计的定制AUV上测试，该方法具备实时性能与可扩展性，显著提升水下机器人研究的仿真保真度，且无需预先计算水动力模型。
原文摘要 · Abstract (English)
Accurate real-time buoyancy modeling is essential for high-fidelity Autonomous Underwater Vehicle (AUV) simulations, yet NVIDIA Isaac Sim lacks a native buoyancy system, requiring external solutions for precise underwater physics. This paper presents a novel convex hull-based approach to dynamically compute the submerged volume of an AUV in real time. By extracting mesh geometry from the simulation environment and calculating the hull portion intersecting the water level along the z-axis, our method enhances accuracy over traditional geometric approximations. A cross-sectional area extension reduces computational overhead, enabling efficient buoyant force updates that adapt to orientation, depth, and sinusoidal wave fluctuations (+-0.3 m). Tested on a custom AUV design for SAUVC 2025, this approach delivers real-time performance and scalability, improving simulation fidelity for underwater robotics research without precomputed hydrodynamic models.
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