Abstract
Nowadays, the dynamic positioning (DP) performance of an unmanned surface vehicle (USV) is receiving special attention for marine research and surveying exploration in coastal areas. So, this paper describes a structure design of a USV disposed with three thrusters. With this disposition, by means of active thrust, the USV can be controlled at a fixed position with fixed heading. Also, hardware and software architectures of the control system are addressed and the functions of all parts are clarified. A strategy for DP control is presented to compensate the deviations due to disturbances from waves, wind, sea current, or sensor inaccuracy. Finally, according to this developed strategy, a number of experiments were performed through sea trials and the results will be shown.
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