The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Simulating Underwater Acoustic Communications in a High Fidelity Robotics Simulator

Anuj Sehgal
Jacobs University Bremen
Germany

Daniel Cernea
Jacobs University Bremen
Germany

Andreas Birk
Jacobs University Bremen
Germany

Abstract:
Missions involving multiple Autonomous Underwater Vehicles (AUVs) are gaining increasing popularity with the advent of better control mechanisms and availability of acoustic modems. However, high costs and the lack of useful tools to simulate multi-AUV tasks has hindered the full potential of the field. In this paper we present an overview on modeling of the underwater acoustic channel, taking into account the high degree of local variability of ocean conditions, multi-path echoes and ambient noise, within the framework of an underwater acoustic communications server for the Unified System for Automation and Robotics Simulator (USARSim) robotics simulator.

 

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