Hydrographic Multisensory Unmanned Watercraft

This article describes the design of the unmanned surface vessel (USV) and the algorithms for planning the trajectories to be followed on measurement missions. The algorithms take account of the dynamically varying impacts of external forces (wind and surface current) on the vessel's motion. Feedback loops enable the counteraction of external factors that cause disturbance to the desired trajectory. The sensors installed on the vessel provide information about the surroundings and adjust the parameters of its motion to provide optimum completion of the planned trajectory and to prevent collisions with fixed and moving obstacles. The nature of the hydrographic work planned to be carried out by the craft requires that it be designed with the following features: shallow draft, high stability, the absence of interference of the measurement sensors by the engine, and high energy efficiency. These features will give a competitive advantage over similar platforms available on the market.