A Simulated Testing Platform of Sailing Robots: Remote Access with Hololens2.

To simulate the motion state of sailing robots in the ocean, this paper aims to develop a virtual sailing robots simulation platform for competition and remote testing on Hololens2. We build gravity field, water field and sailboat dynamics using Unreal Engine 5. The dynamic model is obtained based on the dynamic formula of sailboat modeling and implemented in the blueprint of UE5. The forces and moments on the sail and rudder are used to drive the motion of sailboat. Furthermore, the Unreal Engine 5 simulation environment is tested remotely using Hololens2, and the rudder and sail of the sailboat are controlled using an Xbox controller. In conclusion, we successfully establish a virtual sailing simulation platform and conducts remote testing using the Hololens2, and verify the stability of the platform.