Guidance law design of unmanned surface vessel (AUSV) design for ocean environment survey is as important as missions of autonomous vehicles and unmanned aerial vehicles (UAV). As the characteristic depicted, unmanned surface vessel is often used to sail under harsh climates to execute missions. However, there are many uncertainties on the ocean, such as wind gust, ocean current and irregular waves, etc. Therefore, the traditional linear control method to design guidance laws for unmanned surface vessel is not useful for practical implementation. In this research, we propose the Robust feedback Linearization Control method to design unmanned surface vessel guidance law from the concept of nonlinear control, and simulation results show that the AUSV have tracking the waypoints and force the disturbance perfectly.