Modeling and control of a low-cost ASV

This paper describes the modeling of the dynamics and the realization of the control system of an Autonomous Surface Vehicle (ASV) that is part of an integrated surface/underwater robotic system. The distinctive characteristic of the vehicle, that is realized with commercial components, is that of being propelled by an outboard, steering electric motor. The main task the control system has to perform is that of keeping the ASV within a given range from a moving target, using position information. This ability is necessary in order to ensure that the ASV can act autonomously as supply vessel of a microROV it carries and can deploy. Emphasis is on the definition of a suitable control architecture, that matches the dynamics of the ASV and takes into account the fact that the system is underactuated. Performances are investigated by means of suitable simulations.