Design and Implementation of Autonomous Underwater Vehicle Simulation System Based on MOOS and Unreal Engine

An effective autonomous underwater vehicle (AUV) simulation system can greatly improve development efficiency and reduce the cost and risk of actual equipment operation. In this paper, a comprehensive simulation system is developed using Mission Oriented Operating Suite (MOOS) and Unreal Engine 4 (UE4). The former provides an open-source development framework and application components, which are widely used in the field of underwater robots. The latter is a well-known game development engine that has realistic effects and various plugins. As far as we know, there are few simulation systems based on MOOS and UE4. Moreover, a modular architecture for the simulation system is designed and implemented in the paper. The developed system consists of four subsystems, including the simulation editing and controlling subsystem, shore-based operation subsystem, simulation engine subsystem, and three-dimensional (3D) visualization subsystem. These subsystems have modular characteristics and independent functions and communicate with each other through network sockets. Through the system, users can customize simulation scenarios, send missions and control simulation progress from the graphic user interface. And the system can be used in operation training, software testing, algorithm verification of AUV, etc.