A Distributed Simulator for the Development of the Unmanned Underwater Vehicles Control Software

D. Suriano and C. Moriconi (Italy)


Modelling, simulation, underwater robots.


In this paper a distributed system for the development of the Unmanned Underwater Vehicles (UUVs) control software is shown. This system is composed by three software components running on three different computers linked by a TCP/IP ethernet local area network (LAN). The first software component called human machine interface (HMI) runs on the first PC machine and interfaces the human operator with the onboard UUV computer. The vehicle software control running on the onboard UUV computer interacts with a 3D graphical simulator showing the virtual undersea world and the vehicle motion. The 3D graphical simulator also runs on a PC computer. This tool has been used for the development of the control software of SARA, the Enea’s Autonomous Underwater Vehicle (AUV). It greatly reduced the time and the money spent in the AUV developing and the risks in future sea tests.

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