# DIY unmanned surface vehicle BN-USV restructured as V2 after first field test: modular hull and distributed control architecture

- Source: Reddit r/robotics
- Published: 2026-10-29T14:25:07.000Z
- RoboHot: https://robohot.news/en/items/q2oijm3b07swpa1po72d0o8jl
- Original: https://www.reddit.com/r/robotics/comments/1xilg4g/redesigning_my_diy_usv_after_its_first_field_test/

## Summary

After its first field test, the DIY unmanned surface vehicle BN-USV has entered the V2 design phase, with the focus shifting to a replaceable segmented hull, a CAN distributed control architecture with a main module plus two propulsion modules, and priority on reliable manual control rather than autonomous navigation. In V2, a Raspberry Pi 5 handles high-level processing, while ESP32 controllers handle low-level control and safety, requiring propulsion modules to respond safely and independently when communication fails. V2 is still in development; the above are design goals rather than verified improvements, and the long-term goal is to become a modular platform for marine robotics experimentation and teaching.