Purpose

We aim to integrate the pathfinding module with our simulator to leverage the simulator's physics engine. This will allow us to evaluate pathfinding performance over long-range voyages, providing a more realistic assessment than current methods.

Currently, pathfinding utilizes "mock nodes" (such as a constant module for a mock wind sensor), which are effective for unit testing and short-term behavioral verification. However, these mocks do not sufficiently account for environmental dynamics over time. By using the simulator, we can ensure that generated paths remain viable under realistic physical constraints.

Description

The implementation will be executed in iterative stages to address the complexity of synchronizing the two systems. The primary goals are:

• Validation: Verify the current stability and accuracy of the simulator.
• Integration: Run the simulator concurrently with the pathfinding module to ensure data flow.
• Abstraction: Develop a toggleable system to switch seamlessly between "PATH mocks" (for lightweight testing) and "SIM mocks" (for high-fidelity physics testing).

We will merge code upon the completion of each stage. This project requires proactive research into our existing physics integration and close coordination with the SIM and Control teams.

Resources

• Boat Simulator Codebase: Primary environment for physics integration.
• visualizer.py: For debugging and observing path deviations.
• @alberto-escobar: Point of contact for architectural guidance.
• SIM/Ctrl Team: For expertise on boat dynamics and sensor data emulation.