Tracking control of an unmanned surface vehicle

Abstract

Nowaday, unmanned surface vehicle (USV) has been a special attention for marine research and surveying exploration in costal area. This paper describes an analysis about architecture and control system of a USV disposed with three fixed thrusters. Therefore, hardware and software architectures of control system will be mentioned and functions of all parts are clarified. A strategy design for tracking waypoints is presented. And this algorithm will be checked by simulation and experiments. © Springer-Verlag Berlin Heidelberg 2014.