Design and implement of the control system for unmanned surface vehicle based on the VxWorks

To increase reliability and real time of the unmanned surface vehicle (USV), research on system design and implement of USV was completed. Introduces the hardware architecture of the control system and clarifies the function of all parts. The software architecture is designed based on the VxWorks real-time operating system. The USV control system adopts a three layered hierarchical architecture, includes cooperating layer, control layer and operating layer, to ensure the reliability and real time. Experiments were conducted successfully, such as heading control and simple path-following tests, to obtain useful data to be used in USV modeling and advanced control system design.