TY  - GEN
AB  - The rising importance of Unmanned Surface Vessels (USVs) in diverse maritime contexts, such as coastal monitoring and oceanographic applications, underscores the necessity for a robust simulation environment framework. This need arises from the limited availability of sea trials and demands a high-quality simulation setup to test USV autonomy across multiple scenarios with enhanced visual fidelity. This paper describes an autonomous navigation framework for USV in a Marine Robotics Unity Simulator (MARUS), a high-fidelity simulation environment based on Unity3D to close the gap. Our approach works on coupling the MARUS simulator offering water physics and a wide array of sensors commonly used in the maritime domain with a Robot Operating System (ROS) to facilitate remotely controlled USV behaviour and motion for different navigation scenarios to assess the vessel's maneuverability and overall performance characteristics.
AD  - Sheffield Hallam University
AD  - Sheffield Hallam University
AD  - Sheffield Hallam University
AD  - Sheffield Hallam University
AU  - Sanghar, MS
AU  - Temilolorun, A
AU  - Kara, F
AU  - Singh, Y
DA  - 2024-11-07
DO  - 10.24868/11139
DO  - doi
ID  - 11139
JF  - Conference Proceedings of iSCSS
L1  - https://library.imarest.org/record/11139/files/.pdf
L2  - https://library.imarest.org/record/11139/files/.pdf
L4  - https://library.imarest.org/record/11139/files/.pdf
LK  - https://library.imarest.org/record/11139/files/.pdf
N2  - The rising importance of Unmanned Surface Vessels (USVs) in diverse maritime contexts, such as coastal monitoring and oceanographic applications, underscores the necessity for a robust simulation environment framework. This need arises from the limited availability of sea trials and demands a high-quality simulation setup to test USV autonomy across multiple scenarios with enhanced visual fidelity. This paper describes an autonomous navigation framework for USV in a Marine Robotics Unity Simulator (MARUS), a high-fidelity simulation environment based on Unity3D to close the gap. Our approach works on coupling the MARUS simulator offering water physics and a wide array of sensors commonly used in the maritime domain with a Robot Operating System (ROS) to facilitate remotely controlled USV behaviour and motion for different navigation scenarios to assess the vessel's maneuverability and overall performance characteristics.
PY  - 2024-11-07
T1  - Towards Design of an Autonomous Navigation Framework for Unmanned Surface Vessels using Marine Robotics Unity Simulator
TI  - Towards Design of an Autonomous Navigation Framework for Unmanned Surface Vessels using Marine Robotics Unity Simulator
UR  - https://library.imarest.org/record/11139/files/.pdf
VL  - iSCSS 2024
Y1  - 2024-11-07
ER  -