Due to global climate change, various types of disasters are increasing annually. The severe flooding in Bangkok in 2011, in particular, spurred an urgent need for more effective flood prevention measures. One key preparedness method is surveying river and canal depths to gather data for water management and drainage planning. In this context, understanding the cross-section of the entire waterway is crucial. Therefore, the Field Robotics Institute has researched and developed an Unmanned Surface Vehicle (USV) to assist in these operations.