무인수상정 회수를 위한 자율 경로 생성 : 포텐셜 필드 기반 접근법

김두영^*

해군 소령/해군사관학교 인공지능학과 부교수

Path Planning for Autonomous Unmanned Surface Vehicle Recovery: A Potential Field Approach

Dooyoung Kim^*

LCDR, ROK Navy/Associate Professor, Dept. of Artificial Intelligence, Republic of Korea Naval Academy

Correspondence to: ^*Dooyoung Kim Dept. of Artificial Intelligence, Republic of Korea Naval Academy 1 Jungwon-ro, Jinhae-gu, Changwon-si, Gyungsangnam-do, 51704, Republic of Korea Tel: +82-55-907-5624 E-mail: dykim07@navy.ac.kr

초록

본 논문에서는 무인수상정의 자율 회수를 위한 모함 접근경로 생성 방법을 제안한다. 제안한 방법은 회수지점으로의 인력과 모함의 양 함미에 배치된 가상 장애물에서 발생하는 척력을 이용하여 경로를 계획한다. 시뮬레이션을 통해 무인수상정이 안전하게 회수지점에 도달하기 위한 신뢰할 수 있는 경로를 생성하는 것을 확인하였다.

Abstract

This paper proposes a method for planning the approach path of a mothership to autonomously retrieve an unmanned surface vehicle (USV). The proposed approach uses attractive forces towards the recovery point and repulsive forces generated by virtual obstacles placed at both sterns of the mothership to plan the path. Simulations confirmed that the method generates a reliable path for the USV to safely reach the recovery point.

Keywords:

Unmanned Surface Vehicle, Potential Field, Path Planning, Autonomous Ship, Manned-Unmanned Teaming

키워드:

무인수상정, 포텐셜 필드, 경로 계획, 자율 선박, 유·무인 복합

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