engleski

Modular Approach to Designing Simulation System of Unmanned Underwater Vehicle

The paper analyses the modular approach to designing a simulation system of an unmanned underwater vehicle. The control hierarchy of the unmanned underwater vehicle is briefly described. The demands on the control software support are reviewed, and the application of subsumption architecture (layered control) is shortly described. The functional dissection of the underwater vehicle into the main blocks is carried out. The necessary environment modules of disturbance are included (sea current), and the blocks of modular structured simulator are described. The simulator, designed in this way, is an efficient tool for designing and experimenting with different control algorithms. The training system for unmanned underwater vehicles is also an extension of such simulating system. Moreover, the whole modular software system can be used as the basis of an embedded computer system driving an unmanned underwater vehicle.

simulation system; unmanned underwater vehicle

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