uuvsimulator/uuv_simulatorArchived
Uuv Simulator
The project provides a software simulation framework and physics engine for modeling underwater vehicles, subsea sensors, and ocean environments. It runs within robotics middleware to test autonomous and remotely operated underwater vehicles by combining hydrodynamic physics, ocean currents, and sensor modeling.
The platform computes hydrodynamic forces, buoyancy, equations of motion, and thruster dynamics to accurately replicate underwater physics. It loads pre-configured mechanical assemblies, manipulator panels, and environmental sensors, while generating three-dimensional water movement fields and animated wave shaders to subject submerged vehicles to external hydrodynamic disturbances.
Additional capabilities include trajectory tracking controllers and allocation algorithms to guide vehicles along designated paths, alongside middleware-based topic publishing that transmits simulated sensor measurements and telemetry data to external control and navigation nodes.
Features
- Underwater Vehicle Simulators - Simulates unmanned remotely operated and autonomous underwater vehicles inside virtual marine environments to test control and navigation algorithms.
- Underwater Physics Simulations - Computes hydrodynamic forces, equations of motion, and thruster dynamics for submerged robotic vehicles within physics engines.
- Marine Robotics Physics Engines - Computes hydrodynamic forces, equations of motion, and thruster dynamics to accurately replicate underwater physics for submerged robots.
- Marine Robotics Simulation Frameworks - Provides a software platform for modeling underwater vehicles, subsea sensors, and ocean environments to verify navigation and control algorithms.
- Robotic Sensor Simulation - Publishes simulated sensor measurements to standard robotics middleware topics so control and navigation nodes can consume them.
- Trajectory Tracking - Applies advanced controllers and allocation algorithms to guide autonomous and remotely operated underwater vehicles along designated paths.
- ROS Simulation Bridges - Provides a simulation package for testing autonomous and remotely operated underwater vehicles with hydrodynamic physics, ocean currents, and sensor modeling in ROS.
- Ocean Current Simulations - Generates realistic water currents and animated wave shaders to subject submerged vehicles to external hydrodynamic disturbances.
- Underwater - Computes hydrodynamic forces, buoyancy, and thruster dynamics for submerged robotic systems.
- Underwater Vehicle Control Systems - Applies advanced trajectory tracking and PID controllers to guide autonomous underwater vehicles along designated paths.
- Hydrodynamic Simulators - Computes underwater forces, equations of motion, and vehicle movement by integrating custom plugins directly into the robotics physics engine.
- Underwater Vehicle Modeling Specifications - Models unmanned remotely operated and autonomous underwater vehicles within virtual marine simulation environments.
- Robotic Node Coordinations - Connects simulation components with external software frameworks to handle real-time vehicle control commands and sensor telemetry.
- Physics Engine Plugin Integrations - Integrates custom physics plugins into robotics simulators to replicate realistic underwater hydrodynamics and vehicle movement.
- Subsea Hardware Simulations - Loads pre-configured vehicle models, manipulator panels, and environmental sensors to test robotic navigation and intervention tasks.
- Subsea Intervention Testing Frameworks - Utilizes predefined vehicle models and subsea scenarios to verify robotic manipulation and physical interaction capabilities.
- Spatial Current Velocity Models - Generates three-dimensional water movement fields and animated wave shaders to subject submerged vehicles to realistic external hydrodynamic disturbances.
- Vehicle Assemblies - Loads pre-configured mechanical assemblies, thruster layouts, and environmental sensors to test specific underwater navigation and intervention tasks.
- Topic-Based Node Graphs - Transmits simulated sensor data and telemetry across standard robotics communication channels for consumption by external control nodes.
