This repository is the source code of the paper "Heuristic-based vehicle arrangement for ro-ro ships".

Unity3D simulation code to guide multiple agents to collaboratively plan their paths in a 3D grid world, as well as to test/visualize the heuristic policy on handcrafted scenarios.

Please try the demo of our designed HVA model! You can customize the grid size, add/remove obstacle, add agents and assign them goals automatically, and finally run the model and see the results.

HVA\Assets\Scripts\Main

• LoadManager.cs -D star -> Path optimization -> Cubic interpolation -> Velocity plan -> Solve optimization problem 
• Locate.cs -Generating parking spots based on bat search algorithms
• CameraController.cs -Switching camera view
• cameraDisplay.cs -Handling the display of vision
• EnemySpawner.cs -Vehicle Generator
• Grid.cs -Map Editor
• PathNode.cs -Managing Waypoints
• PosData.cs -Managing parking spot information
• OutLine.cs -Calculate the outline

• Unity Editor 2021.3.23f1c1
• MATLAB R2023a

• Mingyuan Zhai
• Zhongyuan Jin
• Zelin Yan
• Zhengmin Gu
• Zhenni Li
• Dong Xiao