DAVE: 汎用水中ロボティクスシミュレータに向けた水中仮想環境
DAVE Aquatic Virtual Environment: Toward a General Underwater Robotics Simulator
水中ロボット・センサ・環境のためのオープンソースシミュレーション基盤DAVEを提案し、DVLやマルチビームソナー、海流などの要素を実装してその有用性を示した。
著者: Mabel M. Zhang, Woen-Sug Choi, Jessica Herman, Duane Davis, Carson Vogt, Michael McCarrin, Yadunund Vijay, Dharini Dutia, William Lew, Steven Peters, Brian Bingham
分類: cs.RO
原文アブストラクト
We present DAVE Aquatic Virtual Environment (DAVE), an open source simulation stack for underwater robots, sensors, and environments. Conventional robotics simulators are not designed to address unique challenges that come with the marine environment, including but not limited to environment conditions that vary spatially and temporally, impaired or challenging perception, and the unavailability of data in a generally unexplored environment. Given the variety of sensors and platforms, wheels are often reinvented for specific use cases that inevitably resist wider adoption. Building on existing simulators, we provide a framework to help speed up the development and evaluation of algorithms that would otherwise require expensive and time-consuming operations at sea. The framework includes basic building blocks (e.g., new vehicles, water-tracking Doppler Velocity Logger, physics-based multibeam sonar) as well as development tools (e.g., dynamic bathymetry spawning, ocean currents), which allows the user to focus on methodology rather than software infrastructure. We demonstrate usage through example scenarios, bathymetric data import, user interfaces for data inspection and motion planning for manipulation, and visualizations.
