A comparison of digital AUV platform´s result with lake experiment´s

A semi-physical virtual reality system applying to AUV (autonomous underwater vehicle) control study is presented in this paper. This system is composed of three nodes: (1) control node for receiving sensors information and sending control command, (2) virtual model node for virtual devices and sensors and (3) vision node for virtual ocean environment information and displaying the posture of AUV. The control node can be both linked to the real hardware or actuators dealing with a real mission, and linked to the virtual node for purpose test. The experiment results showed that, (1) the horizontal plane controller parameter performed well in the real lake test, while the vertical plane controller parameter should be little changed. (2) The stable and dynamic performances are almost the same between the virtual and real experiments.