Development of a simulator for operator proficiency training for seafloor exploration by remotely operated vehicle

亀割 隆世*; 藤島 裕典*; 川端 邦明; 鈴木 健太; 坂上 憲光*; 武村 史朗*; 高橋 悟*

Proceedings of the IUTAM Symposium on Optimal Guidance and Control for Autonomous Systems 2023 (IUTAM Bookseries No.40), p.85 - 101, 2024/01

The purpose of this paper is to construct an ocean simulator that is useful for training the operation of underwater robots, as mentioned above, and to effectively utilize actual seafloor observation data to measure the seafloor. The proposed ocean simulator can be made more similar to actual ocean current conditions by adding a physical engine, fluid resistance, virtual currents, etc. The simulator software is based on Choreonoid, an integrated software for robot development, to achieve high scalability. Furthermore, by installing Fluid Dynamics Plugin, the underwater behavior of the ROV can be reproduced.