NauSim: Un simulador de código abierto para el control, desarrollo y despliegue de drones submarinos

• Ortiz Toro, César Antonio ^[5] ; Cerrada Collado, Cristina ^[1] ; David Moreno Salinas ^[1] ; Chaos García , Dictino ^[1] ; García Suárez , Karen Lyn ^[2] ; Otero Roth, Pablo ^[3] ; Vidal Pérez , Juan Manuel ^[4] ; Luque Nieto, Miguel Ángel ^[3] ; Vázquez , Ana Isabel ^[4] ; Fraile Ardanuy, José Jesús ^[5] ; Negro Valdecantos, Vicente ^[5] ; Jiménez Yguacel , Eugenio ^[2] ; Aranda Almansa, Joaquín ^[1] ; Zazo Bello, Santiago ^[5] ; Zufiria Zatarain , Pedro José ^[5] ; Magdalena Layos, Luis ^[5] ; Parras Moral, Juan ^[5] ; Gutiérrez Martín, Alvaro ^[5]
  1. [1] Universidad Nacional de Educación a Distancia

     Universidad Nacional de Educación a Distancia

     Madrid, España

     
  2. [2] Universidad de Las Palmas de Gran Canaria

     Universidad de Las Palmas de Gran Canaria

     Gran Canaria, España

     
  3. [3] Universidad de Málaga

     Universidad de Málaga

     Málaga, España

     
  4. [4] Universidad de Cádiz

     Universidad de Cádiz

     Cádiz, España

     
  5. [5] Universidad Polit´ecnica de Madrid

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• Localización: Jornadas de Automática, ISSN-e 3045-4093, Nº. 45, 2024
• Idioma: español
• DOI: 10.17979/ja-cea.2024.45.10895
• Títulos paralelos:
  • NauSim: An open source simulator for underwater drone control, development and deployment
• Enlaces
  • Texto completo
• Resumen
  • español

    Este artículo presenta NauSim, un simulador de código abierto para drones submarinos, centrado en el desarrollo de software de control y en su fácil despliegue en el ''hardware'' objetivo. NauSim proporciona a investigadores, desarrolladores y estudiantes un campo de pruebas virtual, realista y versátil, que les permite evaluar el rendimiento de drones submarinos en diversos escenarios. Entre sus principales características figuran escenarios personalizables, un diseño modular para controladores, sensores y actuadores, y soporte para simulaciones de varios drones, lo que permite realizar estudios de robótica colaborativa y de enjambre.

  • English

    This paper introduces NauSim, an open-source simulator for underwater drones, focusing on control software developmentand easy deployment to the target hardware. NauSim provides researchers, developers, and students with a realistic and versatile virtual testing ground, allowing them to evaluate the performance of underwater drones in a variety of scenarios. Key features include customizable scenarios, a modular design for controllers, sensors, and actuators, and support for multi-drone simulations,enabling collaborative robotics and swarm-based research.

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