Research on Multi-mode Control System and Autonomous Cruise Method for Unmanned Surface Vehicles

The surface garbage cleaning of urban river is a new scenario for the application of USV, but the fault-tolerance of the USV control system designed by using an operating system and a communication link is insufficient. At the same time, the incomplete isolation between remote control and computer control methods has also led to frequent accidents during the operation of USV. What's more, the existing cruise mode of USV cannot effectively clean up the rubbish on the shore. In response to these problems, we first designed a set of control systems with dual operating systems and dual communication links using the idea of redundancy, and used relays to realize the isolation of multi-mode control methods. Then we carried out the motion modeling of the developed USV, and verified the match between the experimental ship and the model through the rotation experiment. Finally, we proposed an autonomous cruise method of USV to realize the autonomous cleaning of the whole water area.