Design of Course Controller for USVs Considering Complex Environment Interference

The unmanned surface vehicles are easily disturbed by wind, wave and current in navigation, which make it hard to maintain the preset course stably. To solve this issue, we designed a course controller for USVs which can overcome the disturbance of the external environment. Firstly, the kinematics model of the USV was established, and the interference model of wind, wave and current on the course of the USV were proposed. On the basis, the adaptive course control algorithm based on RBF neural network and PID is proposed. Finally, the simulation results show that the course controller based on RBF-PID algorithm can overcome the disturbance caused by the external environment in time, and effectively ensure the course stability of the USV.