As the development of multidisciplinary techniques and ever-growing demands, autonomous system has been widely investigated in a variety of fields. In recent two decades, autonomous surface vessels have gained increasing attention from both industry and research communities, previous related work mainly focuses on the design of maneuver controllers, most algorithms are under some specific assumptions and always involve too many parameters that need to be tuned, leading to the lack of practical application or validation in real autonomous surface vessel platform. To tackle the issues, an integrated autonomous surface vessel prototype is designed and implemented, both navigation and maneuver control subsystems are improved, especially in terms of autonomous control, a simple geometrical model and constrained pure pursuit algorithm is firstly tried in autonomous surface vessel, the results show that the proposed system can achieve the path tracking with the error smaller than 40 cm, and even given a complicated waypoint mission, it can still maintain the accuracy of path tracking, demonstrating the stability and validity of the autonomous surface vessel prototype.

中文翻译：

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自主水面舰艇原型的实际设计和实现：导航和控制

随着多学科技术的发展和不断增长的需求，自治系统在各个领域得到了广泛的研究。近二十年来，自主水面舰艇越来越受到工业界和研究界的关注，之前的相关工作主要集中在机动控制器的设计上，大多数算法都在一些特定的假设下，并且总是涉及太多需要调整的参数，导致在真正的自主水面舰艇平台中缺乏实际应用或验证。为了解决这些问题，设计并实现了一个集成的自主水面舰艇原型，改进了导航和机动控制子系统，特别是在自主控制方面，