Abstract: The visual simulation plays a veryimportant role in the development of the robot.On the one hand,it can be used in underwater robot navigation to carry out real-time monitoring and display robot attitude information.With seabed information,it provides important auxiliary information for operator.On the other hand,it is also used in the simulation of the test stage.It can feed back the obstacle information of the seabed and provide elevation and depth data.Aiming at the needs of underwater robot visual simulation,this paper designs the visual simulation method of underwater robot,develops by using UNITY3D technology,creates the scene according to the actual map data,displays the underwater navigation attitude of underwater robot,and improves the rendering effect and real degree of sea view.This method has been actually applied in the national key research and development plan of the 13th Five-Year Plan for full-depth ocean autonomous and remotely-operated vehicle "Haidou-1" and AUV.In the demonstration,test,practical and other stages,this method is of great significance,providing a strong support for the further research of underwater robot.

Key words: ARV, Simulation, Underwater robot, UNITY3D, Visual