Abstract: This study shows a route system for an Autonomous Surface Vessel (ASV) fit for moving in riverine situations. A continuous vision-based route framework is utilized for ASV to go along the waterway. The ASV is outfitted with propeller and rudder to control the speed and heading course, separately. Tireless stream of pictures are gotten by camera that mounted on ASV and sent to the base station over system continuously. A photo division computation in light of Hough transform strategy is completed for waterline area. The motivation behind utilizing Hough transform is to perform visual based route that track alongside the stream. Besides, a high accuracy GPS receiver is installed on the ASV to provide the latitude and longitude coordinates. Data logger system helps to save the data and important information for further analysis and processing. The optical stream calculation is executed to recognize and keep away from snag. The ASV’s route, control and undertaking particular vision have been assessed through analyses with results introduced to exhibit its abilities.