System Design of an Unmanned Surface Vehicle for Autonomous Navigation

摘要

Recently, many unmanned surface vehicles (USVs) have been developed and researched for various fields such as military, environment and robotics. Specially in robotics, USVs are usually used for improvement of navigation system. This paper introduces a system design of an USV 'eVe-1' for autonomous navigation research. The hardware of 'eVe-1' is designed as a catamaran. It consists of power system, control system, various sensors, and two thrusters. Functions of the software are collecting sensor data, processing algorithms for a mission, and transmitting information for remote control. We carried out basic experiments to demonstrate the performance of 'eVe-1'.