Integrated Simulation of Virtual Prototypes and Control Algorithms of Unmanned Surface Vehicles Based on a Robot Operating System

Unmanned surface vehicles (USVs) require autonomous software with a high level of liberalization and automation to complete various missions. Therefore, experimental verification validation this at the initial design stage are essential. However, such experiments impossible before actual hardware is developed, creation an external environment for mission requires substantial cost time. In study, virtual prototypes USV developed. Then, simulation testing control algorithms in constructed. Data communication necessary acquire information from sensors operate actuators. Similarly, data between programs required integrated environment. robot operating system (ROS) platform adopted construct interface communication. Finally, constructed based on ROS verify USV. The applicability suggested evaluated by application three scenarios: mine detection, path following, port entry.