Control System Design for Unmanned Surface Vehicle (USV) for Bathymetric Survey

Kurniantoro WHS, Agus Budiyono, Yohannes Kurnia P, Tutut Prasetyo

Abstract


This paper presents the design and implementation of a control system for an Unmanned Surface Vehicle (USV) dedicated to bathymetric surveying. Bathymetry, the measurement of water depth and mapping of underwater terrain, plays a vital role in various fields such as hydrographic mapping, marine navigation, and environmental monitoring. USVs have emerged as an efficient and cost-effective solution for conducting bathymetric surveys, offering enhanced safety and flexibility compared to manned vessels. The proposed control system is designed to enable precise navigation, data acquisition, and real-time monitoring during bathymetric surveys. It incorporates a combination of hardware and software components, including sensors, actuators, and an onboard computer system. The control system utilizes a multi-sensor fusion approach to ensure accurate position estimation, encompassing GPS, inertial measurement units (IMUs), and echo sounders for depth measurement. To achieve reliable and autonomous navigation, the control system employs advanced algorithms for path planning, obstacle avoidance, and waypoint following. It leverages techniques such as Simultaneous Localization and Mapping (SLAM) to construct an accurate map of the survey area and allow the USV to navigate autonomously while avoiding obstacles. Additionally, the system incorporates feedback control mechanisms to maintain the desired survey speed and trajectory. The paper also discusses the integration of a data acquisition system within the control architecture, enabling real-time collection and processing of bathymetric data. The acquired data is stored onboard and can be transmitted wirelessly to a remote station for further analysis and visualization. Experimental results from field trials demonstrate the effectiveness of the proposed control system for bathymetric survey applications. The USV successfully navigates predetermined survey paths, avoids obstacles, and accurately measures water depths. The system's performance is evaluated in terms of navigation accuracy, survey efficiency, and data quality, confirming its suitability for conducting bathymetric surveys. In conclusion, this paper presents a comprehensive control system design for a USV dedicated to bathymetric surveying. The proposed system enables autonomous and precise navigation, efficient data acquisition, and real-time monitoring, offering significant benefits in terms of cost, safety, and data quality. The research contributes to the advancement of USV technology in the field of bathymetry, paving the way for improved underwater terrain mapping and related applications.

References


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