Design of control system of USV based on double propellers

We have accomplished a design about the control system of the unmanned surface vehicle (USV) with double propellers. Firstly, we introduce the hardware design of control system of USV. Then, the mathematics model of a boat based on double bodies is established, and it provides the basis for the study of the navigation control arithmetic. And then, navigation control technology of the USV is in-depth researched. Finally, the corresponding software for USV is designed. The experiments proved that control system of the USV has some advantages including modularity, intelligent, high reliability and simple operation etc.