Design and implementation for USV based on fuzzy control

Abstract

In recent years, based on the rising of global personal safety demand and human resource cost considerations, development of unmanned vehicles to replace manpower requirement to perform high-risk operations are increasing. In order to acquire useful resources under the marine environment, a large boat as an unmanned surface vehicle (USV) was implemented. The USV is equipped with automatic navigation features and a complete substitute artificial manipulation. This USV system for exploring the marine environment has more carrying capacity and that measurement system can also be self-designed through a modular approach in accordance with the needs for various types of environmental conditions. The investigation work becomes more flexible. A catamaran hull is adopted as automatic navigation test with CompactRIO embedded system. Through GPS and direction sensor not only can know the current location of the boat, but also can calculate the distance with a predetermined position and the angle difference immediately. In this paper, the design of automatic navigation is calculated in accordance with fuzzy algorithms. Fuzzy control is applied to adjust required power and steering, which allows the hull can move straight forward to a predetermined target position. The route will be free from outside influence and realize automatic navigation purpose.