System and Control Design of an Unmanned Surface Vehicle

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Kundra László János
Department of Automation and Applied Informatics

Mobile robotic advancement, spearheaded by military and space research resulted in a rapid revolution of various fields of technology across the entire Globe. Monitoring of marine environment and conducting measurements is expensive and time consuming, but many military and oceanographic missions based on these principles could be carried out by a number of autonomous crafts.

In order to answer these needs, an Unmanned Surface Vehicle is designed, capable of conducting various seaborne measurement and monitoring tasks autonomously.

A combination of Rapid Prototyping Technologies are used throughout the development process, and the control software of the ship follows the guidelines of the Model-Based Design approach. In order to extend range limitations, the use of wind as an alternative propulsion method is analysed.

In addition to requirements planning and software design, various pathplanning and control systems are implemented, evaluated and compared using a ship simulation framework developed in MATLAB.


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