A design of control system for fixed double propellant unmanned surface vehicle based on MOOS-IvP

A design of control system for a small fixed double electric propellant Unmanned Surface Vehicle (USV) is presented in this paper. The system uses the distributed architecture based on MOOS-IvP and integrates sensor module, propeller module, data recording module, control module. The nature of distribution and modular make the control system simple and easy to optimize and inherit. The paper presents a remote control method for USV based on MOOS-IvP software architecture. The stability of the control system and the feasibility of the remote control method are verified by experiments on the lake.