Design method of USV course-tracker based on simulation and real vessel experiment

The unmanned surface vessel (USV) can provide effective means for ocean exploration and traffic regulation, and has become a research hotspot in the field of marine shipping because of its low cost, high efficiency and other advantages. To realize the accurate control of USV movement can provide technical guarantee for the realization of USV autonomous navigation. The research of USV course control method of modeling, using white noise simulation environment for the operation of the boat course of interference, and the MPC (Model Predictive Control) algorithm based on state space is used to design the course controller. The value of the MPC controller such as the sampling frequency is obtained by the simulation method and the experimental method. The effects of the modified MPC controller and PID controller are compared and analyzed. Results show that the modified MPC controller in control USV course has fast convergence, good control USV course motion.