Virtual simulation and trajectory tracking control of an autonomous underwater vehicle in Unity environment

In this study, we present a general framework for virtual simulation and trajectory tracking control of an AUV in Unity. Firstly, the conceptual design and 3D modelling are developed. Then the CAD model is optimized and exported to the virtual environment. Buoyancy effects, hydrodynamic forces, and trajectory-tracking behavior are integrated in a dynamic model, and a Linear Quadratic Regulator (LQR) controller is used to regulate depth and orientation, optimizing control effort while maintaining stability. Finally, a supervisory control and data acquisition (SCADA) system is applied for real-time monitoring and supervision of both the virtual and experimental platforms. The simulation results demonstrate that the LQR controller improves manoeuvrability and trajectory accuracy, supporting a low-risk and technically consistent approximation of the AUV response under the modeled conditions. The reported communication timing, rendering stability, frame-rate behavior, and memory usage provide technical evidence for synchronized Unity-based visualization, while full headset-based or user-centered VR evaluation remains future work. This work provides evidence that a Unity-based real-time visualization environment can serve as a flexible, low-cost environment for preliminary testing of underwater robots and establishes a methodological foundation for future integration of advanced control strategies and subsequent immersive and physical implementation stages.