VIRTUAL ENVIRONMENT TESTBED FOR AUTONOMOUS UNDERWATER VEHICLES

A virtual-environment-based testbed offers an alternative to difficult , costly, and possibly hazardous real-time testing and evaluation of c ontrol algorithms for autonomous underwater vehicles (AUVs). Various m ethods are used in the testbed to model the vehicle and its environmen t. Pertinent control algorithms are integrated with the testbed throug h sensor and control interfaces. A review of selected virtual environm ent testbeds and related standards is provided. Some implementation is sues and results are discussed. A path-planning algorithm is described to illustrate this approach. (C) 1998 Published by Elsevier Science L td. All rights reserved.