Design and Development of a Cost-Effective Unmanned Surface Vehicle for Water Quality Monitoring in Shallow Aquaculture Environments

Unmanned Surface Vessels (USVs) are typically autonomous or remotely operated systems designed for environmental monitoring across various aquatic environments. In aquaculture, continuous water quality monitoring is essential for maintaining system health and productivity, as poor water conditions can lead to disease outbreaks, reduced growth rates, and even mass mortality of cultured species. Many small-scale aquaculture operations, especially in developing regions, face financial constraints and operate in shallow water environments such as inland ponds, coastal lagoons, estuaries, and shallow rivers. These conditions present significant maneuverability challenges, highlighting the need for agile, cost-effective USVs for efficient monitoring. This paper presents the design and development of a low-cost, 3D-printed, twin-hull catamaran USV equipped with an Inertial Measurement Unit (IMU) and a Global Navigation Satellite System (GNSS). The platform features a two-layered control framework and a differential drive configuration powered by two high-efficiency T-200 thrusters. The system is built using the Robot Operating System (ROS) to implement the control framework and integrates Extended Kalman Filter (EKF)-based sensor fusion techniques for localization. The USV’s autonomy is evaluated through open-water captive model experiments, employing remote control methods to assess its manoeuvrability and overall performance in shallow water conditions.