A ROS-Based Simulator for Autonomous Navigation of Maritime Autonomous Surface Ships (MASS)

With growing demand for safer and more efficient maritime transport, Maritime Autonomous Surface Ships (MASS) have emerged as a transformative solution through autonomous navigation capabilities. As a critical tool for validating MASS navigation performance, autonomous navigation simulators hold significant research value and application potential. From the perspective of virtual testing, this paper develops a Robot Operating System (ROS)-based autonomous navigation simulator that includes ship simulation module, scenario simulation module, sensor simulation module, perception fusion module, decision-making module, motion control module, and simulation task management and comprehensive monitoring module. Following module development, the simulator is integrated with marine physical control interfaces and a test console for navigational scene visualization. Furthermore, autonomous navigation tests are successfully conducted using the “Chuangzhi” testing ship model, verifying the simulator’s feasibility and reliability.