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Architecture Design and Experimental Validation of a Modular fully-actuated Unmanned Surface Vehicle for Hydrological Surveys

This paper presents the architecture of a modular fully-actuated hydrographic exploration USV, designs and builds a fully-actuated underwater topographic mapping USV with ROV deployment capability, the Andiamo USV, from practical requirements. The architecture is designed with five modules, namely hull module, connection module, detection module, control module and battery module. The hardware system, the control program and the data processing program are presented, and the feasibility and effectiveness of the system is verified through real water experiments. The designed double-hulled hydrographic exploration USV effectively completes the task of mapping the underwater topography of the actual water and achieves the ease of modification and functional extension of the USV due to its modular design.