Research on Co-simulation of Underwater Robot Based on Webots and Matlab

Abstract

This paper aims to study a co-simulation method of underwater robots based on Webots and Matlab. With the increasingly extensive use of underwater vehicles, higher requirements are put forward for their control performance. Establishing precise control objects and control systems is the basis for verifying control performance, so it is of great significance to study the modeling and simulation of underwater vehicles. By applying the control system built based on Matlab to the underwater robot model built by the simulation physics engine of Webots, the control system can obtain the verification conditions of the control algorithm closer to reality, which not only improves the credibility of the simulation effect but also improves the development efficiency and reduces the cost of testing. By observing visual dynamic images and comparing test data, the feasibility of the design scheme is verified.