DEVELOPMENT OF UNMANNED SURFACE VEHICLE

Abstract

The unmanned surface vehicles (USVs) have been one of the attracting topics in academic research because of their autonomy. In this thesis, we developed a USV, which is equipped with GPS receivers for autonomous waypoint following and trajectory tracking. It has a large payload capacity to carry sufficient equipment for some high demanding missions. The thesis includes dynamic modeling of the USV platform, design, some deep learning methods for surface object detection. The developed system has the potential for real-life applications such as identifying approaching vehicles to alert the ground station and exploring the surrounding environment of assigned locations. The proposed methodologies are validated through actual experiments.