Target-Based Autonomous USV Navigation Using GUI in a ROS-Unity Environment

This paper presents the design and implementation of an autonomous USV (Unmanned Surface Vehicle) navigation system that integrates the Robot Operating System (ROS) with Unity for high-fidelity simulation. The system features a real-time, interactive Graphical User Interface (GUI) for dynamic target selection and monitoring, enhancing user control and responsive ness. A Proportional-Integral-Derivative (PID) controller ensures precise navigation, minimizing heading and trajectory errors as the USV transitions between target locations. Simulation results from scenarios such as zigzag and U-turn paths demonstrate the system’s ability to maintain accurate heading and smooth path tracking, with improved performance under varying conditions. The framework is made available as open source to promote reproducibility and support further research and development. This approach showcases advanced simulator capabilities, mak ing it ideal for testing control strategies in complex maritime environments.