000011139 001__ 11139
000011139 005__ 20241022163527.0
000011139 0247_ $$2doi$$a10.24868/11139
000011139 037__ $$aGENERAL
000011139 245__ $$aTowards Design of an Autonomous Navigation Framework for Unmanned Surface Vessels using Marine Robotics Unity Simulator
000011139 269__ $$a2024-11-07
000011139 336__ $$aConference Proceedings
000011139 520__ $$aThe rising importance of Unmanned Surface Vessels (USVs) in diverse maritime contexts, such as coastal monitoring and oceanographic applications, underscores the necessity for a robust simulation environment framework. This need arises from the limited availability of sea trials and demands a high-quality simulation setup to test USV autonomy across multiple scenarios with enhanced visual fidelity. This paper describes an autonomous navigation framework for USV in a Marine Robotics Unity Simulator (MARUS), a high-fidelity simulation environment based on Unity3D to close the gap. Our approach works on coupling the MARUS simulator offering water physics and a wide array of sensors commonly used in the maritime domain with a Robot Operating System (ROS) to facilitate remotely controlled USV behaviour and motion for different navigation scenarios to assess the vessel's maneuverability and overall performance characteristics.
000011139 7001_ $$aSanghar, MS$$uSheffield Hallam University
000011139 7001_ $$aTemilolorun, A$$uSheffield Hallam University
000011139 7001_ $$aKara, F$$uSheffield Hallam University
000011139 7001_ $$aSingh, Y$$uSheffield Hallam University
000011139 773__ $$tConference Proceedings of iSCSS
000011139 773__ $$jiSCSS 2024
000011139 8564_ $$uhttps://library.imarest.org/record/11139/files/.pdf$$92e937a8b-10c4-49a5-9dce-64e4284c62b4$$s3245290