“…The wave-driven unmanned surface vehicle (WUSV) has been widely concerned by researchers ( Hine et al, 2009 ; Manley and Willcox, 2010 ; Tian et al, 2014 ; Johnston and Poole, 2017 ; Wang et al, 2020 ; Chen et al, 2021 ; Li et al, 2021 ; Liu et al, 2021 ; Lyu et al, 2021 ; Yiming et al, 2021 ), due to wave energy stability. WUSV is an unmanned vehicle that sails on the sea surface by merely utilizing wave energy as its driving power ( Liu et al, 2018 ).…”