Simulation of Adaptive Isobath Tracking for Unmanned Surface Bathymetry Vehicle

An Unmanned Surface Vehicle for bathymetry is introduced. Based on fluid dynamic of the USV, its three-degree of freedom motion model is constructed. The heading error is used for the motion model´s feedback variable, and waypoint tracking is achieved by the Line-Of-Sight algorithm. In the adaptive isobath tracking, an oscillating motion of USV is defined firstly, which can be implemented by waypoint tracking. Secondly, a metric used to estimate the direction of isobath is defined, and the direction equals to the expected oscillating running heading. The USV is controlled to move along the heading as oscillating motion to track the isobath. At last, the simulations of waypoint tracking and adaptive isobath tracking are given out.