Abstract
In the field of robotics, a lot of valuable advantages derive from the use of simulation tools. The loss of detail, with respect to the real world, closely bound up with simulators, is compensated by a significant reduction of the effort, risks and monetary costs required to carry out a series of experiments. In this study, a 3D underwater simulation environment named NEMOCAT is presented as a tool to test and tune control architectures for Autonomous Underwater Vehicles (AUV). An object-oriented methodology based on the Unified Modelling Language (UML) has been applied to its development. By way of example, two different control architectures are described and validated in the simulator by using the hydrodynamic models of two real underwater vehicles called GARB I and URIS.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
