Autonomous Unmanned Surface Vehicle for Water Surface Monitoring

The unmanned surface vehicle (USV) considered in this article is used for the purpose of environmental monitoring of water areas. Small size of vehicle allows to move sensors to areas close to shore line, under the low bridges where the manned boats difficult or danger to use because of damage. With its help, measurements of the required parameters are carried out directly in the studied area, or water samples are taken for further study in the laboratory. For this, it is necessary that the USV automatically move to predetermined points of the route. This article describes one of the stages in the development of an automatic control system for a given USV course. The problem of finding the steering angle for turning the USV to the required points of the route is being solved. An algorithm for visualizing the depth measurements of the exploration water area in the form of a heat map described.