Comparison Between Results Obtained with Thetis, a Real-Time Multi-Vehicles Hardware-in-the-Loop Simulator, and Results Obtained During Sea Trials - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2009

Comparison Between Results Obtained with Thetis, a Real-Time Multi-Vehicles Hardware-in-the-Loop Simulator, and Results Obtained During Sea Trials

Abstract

The purpose of this paper is to present Thetis: a real-time multi-vehicles hybrid simulator for heterogeneous vehicles. This simulator allows Hardware In Loop (HIL) simulations including virtual sensors which allow to provide a representation of a virtual world, and including the support of communication devices. The architecture of this simulator is conceived so that it ensures a temporal decoupling between the virtual environment, the vehicles, sensors and communication simulators and, of course, the actual embedded controller which warrants us the quality of the results. This paper presents a classification and a short state-of-the-art of the different types of existing simulators. Then we will introduce the architecture and functionalities of Thetis. Finally we will compare results obtained during sea-trial with our AUV Taipan300 and with our simulator.
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Dates and versions

lirmm-00373385 , version 1 (04-07-2009)

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Olivier Parodi, Vincent Creuze, Bruno Jouvencel, Xianbo Xiang. Comparison Between Results Obtained with Thetis, a Real-Time Multi-Vehicles Hardware-in-the-Loop Simulator, and Results Obtained During Sea Trials. OCEANS, May 2009, Bremen, Germany. ⟨10.1109/OCEANSE.2009.5278119⟩. ⟨lirmm-00373385⟩
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