Design And Implementation Of Unmanned Surface Vessel Software System Based On MOOS

Ocean is one of the largest mobile spaces in the world. Because the coastal environment we are residing is changeable, and advanced technologies are rapidly developed, unmanned combat system is gradually becoming one of development trends of modern weapons and equipments. As a new type of unmanned marine robots, US V, equipped with some of sensor systems, can fulfill simply catching or monitoring ocean environment task and so on. Once equipped with advanced control system, sensor system, communication system and weapon system, USV could perform a variety of war and military tasks such as reconnaissance, anti-submarine warfare, the special operations and patrol mission. USV plays a most important role in unmanned combat system, and attracts more and more attentions around the world. At present, the United States and Israel play leader roles in USV research, China is still in the initial period.Based on a hard plastic kayak, the vehicle carries navigation and control modules in order to realize its autonomous driving following the pre-set path. At the same time, the shore-based platform can monitor and control the state of USV through wireless communication system.MOOS system is a very practical platform with star topology structure. Its structure is simple and easily expanded. What’s more, MOOS can be used across multi-platform, and avoids some common problems existing in current software department of unmanned systems. This article is mainly to design the software system of unmanned surface vehicle based on MOOS platform, and to implement the software system using C++ programming language under Linux operating system. This article firstly introduces the research status and development trend of unmanned surface vessel both at home and abroad. Then it expounds working principles of the MOOS system and the PID control algorithm. This paper also describes some sensors which are equipped on the USV, including their performance parameters and communication protocols. Finally the paper designs and implements the software system, and uses tools MOOS provides to test the system.