Unmanned boat LiDAR simulation and virtual verification platform research

To address the challenges of conducting experiments with unmanned boats under high sea conditions, a digital twin simulation experiment platform has been designed for performance testing of unmanned boat sensory equipment based on Unity and the Robot Operating System (ROS) architecture. This platform is intended to facilitate the rapid verification of performance simulation algorithms for unmanned boat LiDAR and other sensory equipment. The platform features a parametrically controlled simulation environment that can easily generate diverse sea conditions, meeting the requirements for sensory equipment under complex experimental scenarios. It enables comparative validation of the performance of commonly used unmanned boat sensors, including cameras and LiDAR, through simulation algorithms. The results demonstrate that the same sensing algorithms produce consistent results in both real and simulated environments. Consequently, data from the simulation environment can effectively validate the effectiveness and robustness of the unmanned boat sensing module in high sea states, providing an efficient experimental framework for addressing the challenges of high-sea-state experiments with unmanned boats.