It is in general costly, risky and inefficient in testing relevant algorithms for autonomous underwater vehicles (AUVs) in the real marine environment, particularly in the case of multiple AUVs. Based on Gazebo and rviz, this paper develops a 3D simulation platform named U-IMO 2 -Sim (Underwater Intelligent Mobile Ocean Observation Simulation) containing typical underwater scenarios and multiple AUVs. Algorithms for cooperatively exploring these scenarios with AUVs equipped with multi-beam sonar are then conveniently evaluated. Specifically, realistic underwater data sources for perception and mapping are provided via the real-time point cloud acquisition from the simulated multi-beam sonar. A communication module simulating underwater acoustic characteristics is developed for the networking of multiple AUVs. Practical underwater acoustic channel fading constraints are introduced using delay and packet loss rate models. With these modules, cooperative exploration algorithms including task allocation, environment mapping, path planning and control are then implemented. Three typical underwater scenarios, i.e., shipwreck site, complex seafloor topography and coral areas, are constructed to test the exploration performance with multiple AUVs. Moreover, a visualization and human-machine interface is developed. Overall, U-IMO 2 -Sim provides a safe and low-cost tool for preliminary marine technology tests before real sea-trials.
Luo et al. (Wed,) studied this question.