论文标题
ASVLITE：自动表面车辆的高性能模拟器
ASVLite: a high-performance simulator for autonomous surface vehicles
论文作者
论文摘要
与湖泊和河流等其他水生环境相比，海浪的能量是海浪环境的关键区别因素。波浪显着影响海洋车辆的动力学；因此，在为自动表面车辆（ASV）制定有效的控制策略时，必须考虑波浪中车辆的动态。但是，大多数海洋模拟器可用的开源可用，要么在波浪中排除车辆的动力学，要么使用具有高计算开销的方法。本文介绍了ASVLITE，这是一种计算高效的ASV模拟器，该模拟器使用频域分析进行波力计算。 ASVLITE适用于需要低计算开销和高运行时性能的应用。我们对Raspberry Pi 2和中端台式计算机进行的测试显示，模拟器具有高运行时性能，可以有效地模拟不规则的波浪，其中组件波数量高达260，并且大量高达500 ASV。
The energy of ocean waves is the key distinguishing factor of marine environments compared to other aquatic environments such as lakes and rivers. Waves significantly affect the dynamics of marine vehicles; hence it is imperative to consider the dynamics of vehicles in waves when developing efficient control strategies for autonomous surface vehicles (ASVs). However, most marine simulators available open-source either exclude dynamics of vehicles in waves or use methods with high computational overhead. This paper presents ASVLite, a computationally efficient ASV simulator that uses frequency domain analysis for wave force computation. ASVLite is suitable for applications requiring low computational overhead and high run-time performance. Our tests on a Raspberry Pi 2 and a mid-range desktop computer show that the simulator has a high run-time performance to efficiently simulate irregular waves with a component wave count of up to 260 and large-scale swarms of up to 500 ASVs.
