Target-Based Autonomous USV Navigation Using GUI in a ROS-Unity Environment
Nippin Chevuri, Yogang Singh · 2025
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 responsiveness. 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, making it ideal for testing control strategies in complex maritime environments.