The Collaborative Autonomy and Control Framework for Unmanned Surface Vehicle

The area of autonomy and control is a major research area for all unmanned vehicle systems, and the autonomous collaboration is an extension of autonomy, which provides faster and more synchronous control and maneuvering. Unmanned surface vehicle (USV) is an important application of unmanned systems. We can reduce the human workload required to operate systems and bandwidth requirements, realize the collaboration between multiple platforms, and extend the range of operations by promoting the level of USV's autonomy and control. In this paper, we propose a collaborative autonomy and control framework for USV, which consists of awareness & collaboration system, mission planning system, control system, actuators and other components, and elaborate its basic principles and requirements.