Abstract : This paper presents an autonomous navigation algorithm for an unmanned surface vehicle swarm(USV swarm). For the control of surge force and yaw moment of each USVs separately, the sliding model control, which is proven stable by Lyapunov stability function, is used. Also, for avoiding collision among USV swarm, the potential field is applied as the way of providing necessary angle to turn. In order to verify the performance of the presented algorithm, the waypoint tracking simulation was performed.