Fuzzy-based Control System of Unmanned Surface Vehicle (USV) for Floating Garbage Collection

Floating garbage is a usual form of water pollution and is typical in urban areas where the human population is high. To clean up floating garbage, Unmanned Surface Vehicles (USVs) can be implemented as an automated trash collector. The usage of automated USV in river cleaning of floating garbage is more cost-efficient than manual efforts. In this paper, a lightweight USV that is capable of autonomously collecting floating garbage on surfaces of still water bodies is developed. To governs its maneuver, the USV required a control system that precise and dependable, but it should not require a complex sensors system and high computing power. To address the issue, the control system is developed based on Fuzzy logic. During the test, the developed Fuzzy logic control (FLC) system is acceptable in controlling the USV with ±4° overshoot with ±2° of error. The test is conducted with and without load. The maximum load is set as 13 kg