Due to the high propulsive efficiency and better maneuverability under high speed, the water-jetted unmanned surface vehicle (USV) is widely studied and used. This paper presents complete maneuvering tests and control algorithm designed for a twin water-jetted USV model. Firstly, a wireless network control platform is established, and maneuvering tests, for instance, an inertia test, zig-zag test and turning test, are carried out to verify the maneuverability of the USV. In light of the complexity and uncertainty of ship sailing and ship handling, the Human Simulated Intelligent Control (HSIC) method is utilized to optimize the response time, accuracy and robustness of the controller. Finally, for the path following and track rectification part, a Line of Sight (LOS) algorithm is improved and proved practicable with triangle/square path tests. The proposed intelligent navigation algorithm specially designed for matching with the control methods, showing satisfactory improvements on the motion control and path following of the specific USV.

In this paper, we take a water quality testing Unmanned Surface Vessel (USV) as the research object. We propose a heading keeping strategy based on Human Simulated Intelligent Control (HSIC) algorithm and a trajectory tracking strategy under line-of-sight (LOS) algorithm. The practicality of the proposed control strategies was verified by combining simulations and experiments. The main contents were constructed with three parts: Firstly, we designed a complete control system of a water quality inspection unmanned boat with Arduino microcontroller as the core processor. Secondly, we derived the mathematical model of motion after reasonable simplification. Combined with the cycle experiment, the mapping relation between virtual rudder angle and motor speed was established. Then, the USV heading direction control strategy of HSIC was presented and the reliability of the proposed strategy was verified by the course control experiment of USV. Finally, aiming at the defects and shortcomings of the upper-level trajectory tracking LOS algorithm in practical application, we propose the trajectory correction and precise steering control strategies, and the practicality of the improved algorithm was verified by multi-point trajectory tracking experiments. The autonomous fixed-point water quality testing experiment was designed and verified the effectiveness of the proposed strategies.