Author Type

Graduate Student

Date of Award

2012

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Abstract

The design and integration of an unmanned surface vehicle (USV) control system is described. A survey of related work in both USV control, and unmanned vehicle operating software is presented. The hardware subsystem comprising a modular Guidance, Navigation, and Control (GNC) package is explained. A multi-threaded software architecture is presented, utilizing a decentralized, mutex-protected shared memory inter-process communication subsystem to provide interoperability with additional software modules. A generic GNC approach is presented, with particular elaboration on a virtual rudder abstraction of differential thrust platforms. A MATLAB Simulink simulation is presented as a tool for developing an appropriate controller structure, the result of which was implemented on the target platform. Software validation is presented via a series of sea trials. The USV was tested both in open- and closed-loop control configurations, the results of which are presented here. Lastly recommendations for future development of the GNC system are enumerated.

Extent

x, 103 p. : ill. (some col.)

Comments

by Thomas C. Furfaro.|Thesis (M.S.C.S.)--Florida Atlantic University, 2012.|Includes bibliography.|Electronic reproduction. Boca Raton, Fla., 2012. Mode of access: World Wide Web.|by Thomas C. Furfaro.

Identifier

FADT3342052

Format

pdf

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