Brain computer interface (BCI)-based virtual environment control has found broad applications in solving and pursuing factual healthcare issues concerning efficiency, safety, and costs. In this technical paper, an unmanned ground vehicle (UGV) robot with a simulator-equipped BCI system was utilized. The Gazebo simulator was employed to develop a simulated setting. The software CitySim World allowed rendering the simulated milieu more down-to-earth. A non-invasive electroencephalogram (EEG)-based BCI was used to follow the brain signals and extract the P300 component, a kind of simultaneous BCI controlling procedure for safe, fast, and inexpensive implementation. This UGV control system using human brain activity can be beneficial for the real UGV platform control. It enables the discovery of the probable errors in the physical implementation. All the steps implementing our BCI system were appropriately provided (data acquisition system, user interface design, BCI data architecture, ROS/ robot Jackal, and implementation and tests). Furthermore, the project implementation and some solutions to possible issues were posed. The project outcomes were assessed by employing BCI in a simulation; before implementing real-time, to determine errors and resolve the validity of the project scope.