From virtual world to reality: designing an autonomous underwater robot
Abstract
Design of autonomous underwater robots is particularly
difficult due to the physical and sensor challenges of
the underwater environment. Inaccessibility during
operation and low probability of failure recovery makes
robot stability and reliability paramount. Building an
accurate and complete virtual world simulation is
proposed as a necessary prerequisite for design of an
autonomous underwater robot. A virtual world can
include actual robot components and models for all
other aspects of the world. Robot design can be fully
tested using a virtual world and then verified using the
real world. Additional testing can be performed in the
virtual world that is not feasible in the real world.
Visualization of robot interactions within a virtual world
permits sophisticated analysis of robot performance that
is otherwise unavailable. All aspects of world modeling
and robot design must be mastered and coordinated in
order to build an authentic virtual world and capable
autonomous robot.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.Collections
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