Visual Odometry-Based Robust Control for an Unmanned Surface Vehicle under Waves and Currents in a Urban Waterway

This paper proposes the study of a robust control scheme for an Unmanned Surface Vehicle (USV) in urban waterway using Visual Odometry (VO) position estimation vehicle instead traditional sensors. For different applications, USV is required to operate autonomous navigation mode and under various disturbances inherent its environment as currents waves. To achieve efficient operation, cope with such disturbances. The achieved by VO estimate vehicle’s denied Global Positioning Systems (GPS) environments. A based on Sliding Modes (SM) theory designed convergence guaranteed means Lyapunov analysis. tracking capabilities disturbance conditions are verified simulation virtual world tool from Matlab Simulink.