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A new course keeping controller for RIB(Rigid Inflatable Boat)- type USV(Unmanned Surface Vehicle) is developed using pilot's steering pattern. A pilot's simple steering pattern is found out from various course change tests. It is used to course keeping algorithm, suitable for large course change more than 60 degrees. To valid ate the course keeping controller, sea trial tests are conducted. From sea trial test, new course keeping controller shows good performance with less overshoot, maximum roll angle less than 20⁰, which makes it possible that fast course changes without slip motion of USV. ※Keywords: USV(), RIB(), Course control(), Pilot(), Steering pattern() 1.  (USV, Unma nned Surface Vehicle)        ,    ,  : 2009 11 9, : 2010 4 12✝: gnangi@moeri.re.kr, 042-866-3650    , , , ,     ,        .      ,             , ACL(Autonomous Control Levels)

Design of Course Keeping Controller for RIB-type USV Using a Pilot's Steering Pattern