The semi‑physical simulation system for unmanned surface vehicle based on ROS

Aiming at the problems of low testing efficiency, multiple safety re-strictions, high testing costs, and difficulty in bottoming out during actual sea testing of unmanned surface vehicle (USV), the semi-physical simulation system for USV is constructed to achieve rapid testing and verification of the algorithm for USV. Using ROS and QT to build a complete USV simulation system, realistic simulation and 3D display of the real boat are carried out through ROS. At the same time, relevant sensors are simulated and the relevant perception data is processed. Building an intelligent control system for USV based on QT, and running related algorithms such as path planning and autonomous control for USV. The semi-physical simulation system for USV based on ROS provides a breeding environment for the algorithm of USV, enabling rapid testing and verification of intelligent control algorithms for USV.