We present DAVE Aquatic Virtual Environment (DAVE), an open source simulation stack for underwater robots, sensors, and environments. Conventional robotics simulators are not designed to address unique challenges that come with the marine environment, including but not limited to environment conditions that vary spatially and temporally, impaired or challenging perception, and the unavailability of data in a generally unexplored environment. Given the variety of sensors and platforms, wheels are often reinvented for specific use cases that inevitably resist wider adoption. Building on existing simulators, we provide a framework to help speed up the development and evaluation of algorithms that would otherwise require expensive and time-consuming operations at sea. The framework includes basic building blocks (e.g., new vehicles, water-tracking Doppler Velocity Logger, physics-based multibeam sonar) as well as development tools (e.g., dynamic bathymetry spawning, ocean currents), which allows the user to focus on methodology rather than software infrastructure. We demonstrate usage through example scenarios, bathymetric data import, user interfaces for data inspection and motion planning for manipulation, and visualizations.

翻译：我们介绍了DAVE水生虚拟环境(DAVE),这是水下机器人、传感器和环境的开放源码模拟堆(DAVE),这是一个水下机器人、传感器和环境的开放源码模拟堆。常规机器人模拟器的设计不是为了应对海洋环境带来的独特挑战,包括但不限于空间和时间、受损或具有挑战性的看法各不相同的环境条件,以及在一般没有探索的环境中缺乏数据。鉴于传感器和平台的多样性,轮子往往被重新改造,用于不可避免地无法广泛采用的具体用途案例。在现有模拟器的基础上,我们提供了一个框架,帮助加快开发和评估本来需要昂贵和耗时的海上作业的算法。框架包括基本建筑块(例如新车辆、跟踪水的多普勒威力Loger、基于物理的多波束声纳)以及开发工具(例如动态水深测量产卵床、洋流),使用户能够专注于方法而不是软件基础设施。我们通过举例设想、测深数据导入、用户界面用于数据检查和操纵及视觉化规划的利用。