Design of semi physical motion simulation system of underwater robot

Semi physical motion simulation system of underwater robot is established by combining physical simulation of control layer with virtual simulation of sensory and executive layer. Not only the software logic but also the hardware architecture, information interface and reliability can be verified with the semi physical motion simulation system. The hardware and software architecture of the simulation system are explained in detail. The virtual simulation of hydrodynamics, motion sensors and physical simulation of control layer are described. Finally, the long distance motion simulation and obstacle avoidance simulation experiments are conducted to demonstrate the importance of the system for the success of sea experiments.