Abstract:An autonomous monitoring and control system of unmanned surface vehicle (USV) with mobile water quality monitoring, sampling, and oxygenation functions is constructed. The control hardware and monitoring configuration software of the system is designed, respectively, which can be installed on USV and its remote control and monitoring terminal. The kinematic modeling of USV, waypoint trajectory-tracking control, distributed controller, simulation of tracking control, and verification of software and hardware de… Show more
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