기뢰탐지 무인잠수정 군집기반 탐색 효과도 분석

오경원¹^{, *} ; 유태석² ; 윤선일³

1한남대학교 기계공학과 교수
2LIG넥스원 수중이동체개발단 단장
3LIG넥스원 수중이동체개발단 2팀장

Effectiveness Analysis of Swarm-Based Mine Detection Using Unmanned Underwater Vehicles

Kyungwon Oh¹^{, *} ; Taesuk Yoo² ; Seonil Yoon³

1Professor, Dept. of Mechanical Engineering, Hannam University
2Research fellow, Unmanned Underwater Vehicle Systems, LIG Nex1
3Chief research engineer, Unmanned Underwater Vehicle Systems, LIG Nex1

Correspondence to: *Kyungwon Oh 70, Hannam-ro, Daedeok-gu, Daejeon, Republic of Korea Tel: +82-42-629-8435 E-mail: kwoh@hnu.kr

초록

본 논문은 항만 진입로 환경에서 무인잠수정(UUV) 군집을 활용한 기뢰탐지 작전의 효과도를 수학적 모델링과 몬테카를로 시뮬레이션으로 분석하였다. 동일한 3대의 UUV를 기준으로 이종 군집(M1+S2)과 동종 군집(M3)을 구성하고, 병렬·계층적·협업적 탐색 전략을 비교하였다. 3,000 m × 3,000 m 해역에 20개 기뢰를 임의 배치한 시나리오에서 성능척도는 기뢰제거율, 임무소요시간, 재획득 성공률, 종합작전효과지수(OEI)로 설정하였다. 분석 결과, 이종 군집의 협업적 전략이 기뢰제거율 94.3%, OEI 83.0%로 가장 우수하였다. ANOVA 결과 탐색 전략은 기뢰제거율에 통계적으로 유의한 영향을 미쳤으며, 이종 군집에서 전략 선택 효과가 특히 크게 나타났다.

Abstract

This paper analyzes the effectiveness of UUV swarm-based mine detection in a harbor approach environment using mathematical modeling and Monte Carlo simulation. Two configurations, a heterogeneous swarm (M1+S2) and a homogeneous swarm (M3), were compared under parallel, hierarchical, and collaborative search strategies. In a 3,000 m × 3,000 m search area with 20 randomly deployed mines, clearance rate, mission time, reacquisition success rate, and overall operational effectiveness index (OEI) were used as measures of effectiveness. The results show that the collaborative strategy with the heterogeneous swarm achieved the best performance, with a clearance rate of 94.3% and an OEI of 83.0%. ANOVA confirmed that search strategy significantly affected clearance performance, especially in the heterogeneous swarm case.

Keywords:

Unmanned Underwater Vehicle, Mine Countermeasures, Swarm Search, Monte Carlo Simulation, Effectiveness Analysis

키워드:

무인잠수정, 기뢰대응전, 군집 탐색, 몬테카를로 시뮬레이션, 효과도 분석

Acknowledgments

이 논문은 2023년도 정부(방위사업청)의 재원으로 국방기술진흥연구소의 지원을 받아 수행된 연구임(No KRIT-CT-23-035, 군집 무인잠수정 임무제어 및 통합기술)

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