Research on adjustable autonomy architecture for unmanned surface vehicle

This paper designed a typical task oriented adjustable autonomy architecture for autonomy control of unmanned surface vehicle (USV). First a two-dimensional classify method of an adjustable autonomy control level is presented, which is applied to the USV system. Then an index system is established for the autonomy control level assessment of USV, which includes the performance of USV, environmental complexity and user status. At the end of this paper the implementation of the architecture is discussed with the example of USV performing an obstacle avoid mission in unknown marine environment.