2013
DHSS 2013 Proceeding
Operations architecture and vector field guidance for the riverscout subscale unmanned surface vehicle
Authors: Yiannis Papelis, Mitchel Weate
Abstract
Full size and sub-scale unmanned surface vehicles (USVs) are increasingly used in a variety of tasks such as surveillance, patrolling and data gathering. Sub-scale USVs in particular are attractive for operations in protected waters because of their relatively low cost, stealth due to small size and operational flexibility. Typically the USVs are tele-operated, something that can create challenges because of their susceptibility to external disturbances, such wind and currents. Similar challenges apply to the design of the guidance laws utilized when the USV operates in partial autonomy modes. In this paper we describe the architecture of the Riverscout, a sub-scale, jet-powered, V-hull USV designed for protected water operations. The paper describes the overall system design with focus on the operational modes of the craft, the basic control scheme used for the boat?s auto-pilot as well as the use of guidance vector fields for implementing waypoint following and loitering. Field data is provided to demonstrate the craft?s performance.
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