A NAVIGATION ALGORITHM FOR AN UNMANNED BOAT

USV technology is rather new in contrast to autonomous underwater vehicles (AUVs) which has already reached its maturity. [1]. USVs are robots for operation at lakes, canals, harbors and even open sea that are characterized by small size, good hiding capability, high mobility, and low price [2],[3]. Liu et al., (2015) introduced a path planning algorithm for the USV formation navigation based on the fast marching (FM) method, which has features of fast computation speed and low computation complexity [4].