Simulation Platform for USV Path Planning based on Unity3D and A* Algorithm

Unmanned surface vehicle (USV) path planning is the key technology of USV research. However, the simulation of USV path planning is costly and risky. Plenty of existing simulation environments simplify water surface environments and USV model, increasing the gap between simulations and actual experiments. In this paper, we will introduce our newly developed Unity3D/Microsoft Visual Studio (VS) simulation platform for USV path planning. In Unity3D server, a virtual water surface environment is built for USV navigation. In VS client, A* path planning algorithm is implemented. Data transmission between Unity3D and VS is implemented through TCP/IP protocol. Besides, a 2d lidar sensor is modeled in Unity3D to detect local obstacles and used for static local obstacle avoidance. Finally, optimal and collision-free USV path planning can be realized in our simulation platform. The virtual water surface environment, lidar modeling and socket communication can make USV path planning simulations fit well with actual experiments.