Research on Key Technology of Unmanned Surface Vehicle Motion Simulation Based on Unity3D

Unmanned surface vehicles (USVs) are rapidly developing and widely used in various offshore environments. However, due to the complexity of the water surface environment and the uncertainty in using USVs, field experiments are faced with the problems of great difficulty, long working time, and high cost. And the simulation experiments are usually needed before this. Therefore, this paper constructs a virtual ocean environment based on the virtual reality technology and Unity3D engine, and reproduces the working state and motion of USVs under different water conditions through kinematics and dynamics modeling. At the same time, the navigation algorithm can also be tested and verified. Using the platform, two kinds of USVs are tested, and a multi-agent reinforcement learning (MA-DRL) based multi-USV cooperative hunting algorithm is implemented, which further verifies the applicability of the platform.