用高保真水下仿真测试自研潜航器，实现软硬件联动验证。
Testing and Evaluation of Underwater Vehicle Using Hardware-In-The-Loop Simulation with HoloOcean
- 通过HoloOcean 2.0与ROS 2接口构建软硬件在环测试系统
- 仿真结果与实测数据对比验证了模拟精度
- 适合水下机器人研发团队进行可控环境测试
在实际海试前对海洋机器人系统进行受控环境测试极具挑战，尤其当依赖声学传感器和控制舵面的系统仅在水下有效时。室内水池测试常受限于空间，难以大规模验证控制、导航与感知算法。近期发布的高保真水下仿真工具具备解决此类问题的潜力。本文展示新推出的HoloOcean 2.0仿真器在鱼雷型自主水下航行器（AUV）动力学建模方面的改进，以及其新增的ROS 2接口。我们成功构建了针对本实验室自研的CougUV鱼雷型AUV的硬件在环（HIL）与软件在环（SIL）测试平台。通过ROS 2桥接，仿真在HoloOcean中运行，将模拟传感器数据发送至CougUV（模拟传感器驱动），并将控制舵面指令返回仿真系统以计算车辆动力学与传感器数据。我们对比了仿真结果与真实野外试验数据。
原文摘要 · Abstract (English)
Testing marine robotics systems in controlled environments before field tests is challenging, especially when acoustic-based sensors and control surfaces only function properly underwater. Deploying robots in indoor tanks and pools often faces space constraints that complicate testing of control, navigation, and perception algorithms at scale. Recent developments of high-fidelity underwater simulation tools have the potential to address these problems. We demonstrate the utility of the recently released HoloOcean 2.0 simulator with improved dynamics for torpedo AUV vehicles and a new ROS 2 interface. We have successfully demonstrated a Hardware-in-the-Loop (HIL) and Software-in-the-Loop (SIL) setup for testing and evaluating a CougUV torpedo autonomous underwater vehicle (AUV) that was built and developed in our lab. With this HIL and SIL setup, simulations are run in HoloOcean using a ROS 2 bridge such that simulated sensor data is sent to the CougUV (mimicking sensor drivers) and control surface commands are sent back to the simulation, where vehicle dynamics and sensor data are calculated. We compare our simulated results to real-world field trial results.
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