Instituto Federal de Educação, Ciência e Tecnologia do Rio Grande do Sul, Osório RS 95520-000, Brazil.
Pontíficia Universidade Católica, Porto Alegre RS 90619-900, Brazil.
Sensors (Basel). 2019 Mar 2;19(5):1068. doi: 10.3390/s19051068.
The use of robotics in disaster scenarios has become a reality. However, an Unmanned Surface Vehicle (USV) needs a robust navigation strategy to face unpredictable environmental forces such as waves, wind, and water current. A starting step toward this goal is to have a programming environment with realistic USV models where designers can assess their control strategies under different degrees of environmental disturbances. This paper presents a simulation environment integrated with robotic middleware which models the forces that act on a USV in a disaster scenario. Results show that these environmental forces affect the USV's trajectories negatively, indicating the need for more research on USV control strategies considering harsh environmental conditions. Evaluation scenarios were presented to highlight specific features of the simulator, including a bridge inspection scenario with fast water current and winds.
机器人技术在灾难场景中的应用已经成为现实。然而，无人水面艇 (USV) 需要一种强大的导航策略来应对波浪、风和水流等不可预测的环境力量。实现这一目标的一个起始步骤是拥有一个具有逼真 USV 模型的编程环境，设计师可以在不同程度的环境干扰下评估他们的控制策略。本文提出了一个集成机器人中间件的仿真环境，该环境对灾难场景中作用于 USV 的力进行建模。结果表明，这些环境力对 USV 的轨迹产生了负面影响，表明需要更多考虑恶劣环境条件的 USV 控制策略研究。评估场景被提出以突出模拟器的特定功能，包括带有快速水流和风力的桥梁检查场景。
