Marine robots, particularly Unmanned Surface Vessels (USVs), have gained considerable attention for their diverse applications in maritime tasks, including search and rescue, environmental monitoring, and maritime security. This paper presents the design and implementation of a USV named marine$\mathcal{X}$. The hardware components of marine$\mathcal{X}$ are meticulously developed to ensure robustness, efficiency, and adaptability to varying environmental conditions. Furthermore, the integration of a vision-based object tracking algorithm empowers marine$\mathcal{X}$ to autonomously track and monitor specific objects on the water surface. The control system utilizes PID control, enabling precise navigation of marine$\mathcal{X}$ while maintaining a desired course and distance to the target object. To assess the performance of marine$\mathcal{X}$, comprehensive testing is conducted, encompassing simulation, trials in the marine pool, and real-world tests in the open sea. The successful outcomes of these tests demonstrate the USV's capabilities in achieving real-time object tracking, showcasing its potential for various applications in maritime operations.

翻译：海洋机器人，特别是无人水面艇（USV），因其在搜索救援、环境监测及海上安保等海事任务中的多样化应用而受到广泛关注。本文介绍了一款名为marine$\mathcal{X}$的无人水面艇的设计与实现。该艇的硬件组件经过精心开发，以确保其在不同环境条件下的鲁棒性、高效性和适应性。此外，集成基于视觉的目标跟踪算法使marine$\mathcal{X}$能够自主跟踪和监测水面上的特定目标。控制系统采用PID控制，使marine$\mathcal{X}$能够在保持期望航向与目标距离的同时实现精确导航。为评估marine$\mathcal{X}$的性能，我们开展了涵盖仿真、海洋水池试验及开阔海域实景测试在内的全面试验。这些试验的成功结果验证了该无人水面艇在实时目标跟踪方面的能力，展示了其在海事作业中多种应用的潜力。