仿真平台可为喷冲式ROV提供快速迭代验证的虚拟环境、优化作业计划、识别并规避潜在风险。本文针对喷冲式ROV搭建了仿真平台，用于算法验证和全流程作业仿真。该平台基于ROS和Gazebo搭建，通过编辑模型与海洋环境文件在Gazebo中集成，实现了作业可视化显示；借助Gazebo中的API编写控制插件、传感器插件以及多作用点扰动力插件模拟ROV的行为、感知和作业扰动力；通过话题通信机制完成Gazebo与ROS之间的实时动态交互；采用PD控制器和跟踪算法完成控制系统设计；最后分析全流程作业状态集、制定作业计划，配置仿真参数完成了全流程仿真。通过仿真实现了作业可视化、多作用点作业扰动力模拟、下潜悬停和循缆跟踪等功能，验证了仿真平台和控制策略的有效性。本文创新性地建立了多作用点扰动力模型；建立了基于插件的模块化仿真框架；设计了基于状态机的全流程作业仿真策略，为深海ROV作业仿真提供了新的技术解决方案。
The simulation platform provides a virtual environment for rapid iterative verification of jet-propelled ROVs, optimizes operational plans, and identifies and mitigates potential risks. This paper describes the development of a simulation platform for jet-propelled ROVs, designed for algorithm verification and full-process operational simulation. The platform is built on ROS and Gazebo, integrating edited models and marine environment files within Gazebo to enable operational visualization; Control plugins, sensor plugins, and multi-point disturbance force plugins are developed using Gazebo's API to simulate the ROV's behavior, perception, and operational disturbance forces; real-time dynamic interaction between Gazebo and ROS is achieved through a topic communication mechanism; a PD controller and tracking algorithm are employed for control system design; finally, the entire operational state set is analyzed, an operational plan is formulated, and simulation parameters are configured to complete the full-process simulation. Through simulation, functions such as operation visualization, multi-point operation disturbance force simulation, descent hovering, and cable tracking were realized, verifying the effectiveness of the simulation platform and control strategy. This paper innovatively established a multi-point disturbance force model; established a plugin-based modular simulation framework; and designed a state machine-based full-process operation simulation strategy, providing a new technical solution for deep-sea ROV operation simulation.
2026,48(6): 168-173 收稿日期：2016-11-19
DOI：10.3404/j.issn.1672-7649.2026.06.022
分类号：U66；TP249
基金项目：国家自然科学基金资助项目（52231011）
作者简介：陈徽(2001-),男,硕士研究生,研究方向为水下机器人控制
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