Design of a test platform for remote control of inland ships and a mixed virtual-real method

A design method for an autonomous navigation intelligent test platform that includes collision analysis, water flow simulation, and multi-ship intersection for tortuous, narrow and crowded inland waterways is proposed. The method uses the Fossen ship model as the ship motion prediction method, U3D as the scene view, and PhysX as the collision physics model. To address the problem of a sharp increase in computational load in congested multi-ship inland waterway scenarios, a layered approximate model oriented to analysis requirements is proposed. This significantly reduces computational load while significantly improving visual effects and collision analysis realism. At the same time, the method establishes a trajectory repair method based on a simplified ship motion model and implements a projection method from real discontinuous data to the test platform based on this foundation to achieve virtual-real integration. By simulating delays and constructing congestion, the platform built by this method can provide navigation scenarios that are highly consistent with reality for remote driving research and lay a foundation for related research.