The Simulation for Autonomous Navigation of Water-jet-propelled Unmanned Surface Vehicle

According to the motion characteristic and hydrodynamics of high-speed deep-V planning, a real-time 6DOF mathematical motion model for the USV was built and the performance was simulated in Matlab/Simulink software tool. Then a fuzzy logic system for autonomous navigation of unmanned surface vehicles is presented. The control system intelligently controls the vehicle to go from origin to destination avoiding the obstacles in its path. Depending on the anticipated danger of the obstacle, the vehicle chooses an angle of divergence which avoids the obstacles and keeps the speed of the vehicle. The proposed control system of the vehicle has two main controllers. The first one is speed controller and the second one is nozzle controller. Compared with the actual sea trial data, the results show that the proposed model and fuzzy controller can better reflect and simulate the maneuverability of the USV under ocean environment.