A Cruise USV System Design and Path Planning Test

In this article, we design a kind of unmanned surface vessel that can realize automatic collision avoidance and cruise in open water Firstly, we designed the overall algorithm implementation process, and designed the USV track tracking algorithm based on adaptive LOS and improved PID. Based on realizing accurate track tracking and fixed-point hovering, we designed the global path and dynamic path planning method of USV based on the Move_base navigation package of ROS and Lidar. As for the hardware and software of our USV, we designed the ROS-based software system and hardware system. It can detective 1M class water obstacles and automatically avoid obstacles, and has carried out relevant experimental verification.