수중 자율운동체의 해저지형 회피를 위한 지형 추종 알고리즘 연구

김현승¹^{, *} ; 현철² ; 이성균² ; 고진용² ; 김창환³

1LIG넥스원 전장분석개발팀 선임연구원
2LIG넥스원 전장분석개발팀 수석연구원
3LIG넥스원 경어뢰-II 체계개발단 1팀 수석연구원

Research on Terrain Tracking Algorithm for Seafloor Topography Avoidance of Underwater Autonomous Vehicle

Hyunseung Kim¹^{, *} ; Chul Hyun² ; Sungkyun Lee² ; Jinyong Go² ; Changhwan Kim³

1Research engineer, Dept. of Battlefield Analysis and Development, LIG Nex1
2Chief research engineer, Dept. of Battlefield Analysis and Development, LIG Nex1
3Chief research engineer, Dept. of Light Weight Torpedo System Development, LIG Nex1

Correspondence to: ^*Hyunseung Kim Dept. of Battlefield Analysis and Development, LIG Nex1 333 Pangyo-ro, Bundang-gu, Seongnam-si, Gyeonggi-do, 13488, Republic of Korea Tel: +82-31-5179-7272 Fax: +82-31-5179-7086 E-mail: hyunseung.kim2@lignex1.com

초록

본 논문에서는 수중자율운동체가 해저지형을 회피하면서 심도 명령을 추종하도록 심도 제어기를 설계하였다. 이때, 한반도 주변 해역에 대한 실제 해저지형 데이터를 적용한 시나리오에 대해서 주행성능을 분석하였다. 본 논문은 수중자율운동체의 해지지형 회피 및 추종을 통해 주행 효율 극대화를 위한 경로 수립에 활용할 수 있을 것으로 기대된다.

Abstract

In this paper, we designed a depth controller to enable an underwater autonomous vehicle to follow depth commands while avoiding the seafloor topography. At this time, driving performance was analyzed for a scenario that applied actual underwater topography data for around the Korean Peninsula. The proposed algorithm is expected to be used to establish a route for maximizing driving efficiency through terrain avoidance and tracking for underwater autonomous vehicles.

Keywords:

Underwater Autonomous Vehicle, Terrain Tracking Algorithm, Depth Controller, Seafloor Topography

키워드:

수중 자율 운동체, 지형 추종 알고리즘, 심도 제어기, 해저지형

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