Simulation of 6-DOF Nonlinear Autonomous Underwater Vehicles with Virtual Reality

Design and testing system of Autonomous Underwater Vehicle (AUV) is usually cost and complicated due to the inaccessibility during operation in the sea environment. Therefore, in this paper, the simulation system was developed based on the dynamic model of the NPS AUV and the Virtual Reality Modeling Language VRML 2.0. First, the VRML 2.0 was used to design the 3D AUV model, realistic underwater environment and some effects. Next, the modeling of 6-DOFs NPS AUV was derived and built in Matlab/Simulink software connected with the visual display module through the VR Sink block. Finally, the joystick was connected to the computer to generate the control commands such as propeller and rudder commands. In this simulation system, the dynamic module will receive control commands from joystick and solve the motion of AUV in both body-fixed coordinate and Earth-fixed coordinate system, these motion data after solving were transmitted to display module which display the movements of AUV model.