Design of heading control system for USV based on MOOS-IvP
Lingyan Dong, Hongli Xu · 2017 IEEE 2nd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC) · 2017
This paper presents a design scheme of control system for a small fixed double propulsion unmanned surface vehicle (USV). The system is based on MOOS-IvP star topology, with distributed and modular features. The system integrates the sensor module, the propeller module, the data recording module and the control module. The Autonomous Navigation of USV is achieved successfully by using the heading control method based on PID. Simulink simulation and lake experiment verifies its effectiveness.