Current Issues

Korea Society for Naval Science and Technology - Vol. 7 , No. 3

[ Article ]
Journal of the KNST - Vol. 7, No. 3, pp. 304-308
Abbreviation: KNST
ISSN: 2635-4926 (Print)
Print publication date 30 Sep 2024
Received 31 Aug 2024 Revised 06 Sep 2024 Accepted 27 Sep 2024
DOI: https://doi.org/10.31818/JKNST.2024.9.7.3.304

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


Ⓒ 2024 Korea Society for Naval Science & Technology

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

References
K. W. Jang, K. W. Hong, H. C. Bang, S. I. Lee, J. Y. Jeon and K. H. Song, “Computational Guidance Algorithm for Terrain Following Using Model Predictive Path Integral Method,” Journal of the Korean Society for Aeronautical and Space Sciences, Vol. 51, No. 11, pp. 769-777, Sep. 2023.
K. W. Hong, S. J. Kim, H. C. Bang, J. Y. Jeon and W. Y. Choi, “Trajectory Generation Algorithm for Terrain Following based on Terrain Elevation,” Journal of the Korean Society for Aeronautical and Space Sciences, Vol. 51, No. 6, pp. 391-398, Sep. 2023.
J. J. Park, S. H. Park, C. K. Ryoo and S. S. Shin, “A Study on the Algorithm for Automatic Generation of Optimal Waypoint with Terrain Avoidance,” Journal of the Korean Society for Aeronautical and Space Sciences, Vol. 37, No. 11, pp. 1104-1111, Nov. 2009.
H. J. Lee and S. C. Lee, “A Method to Generate Flight Path using Circular Path for Terrain Following,” KSAS Fall Conference 2022, Korea, pp. 1431-1432, Oct. 2022.
I. G. Lim and S. W. Ra, “Waypoints Altitude Planning for Terrain Collision Avoidance and Maneuverability of an Unmanned Aerial Vehicle,” Journal of Korean Institute of Information Technology, Vol. 16, No. 9, pp. 31-41, Sep. 2018.
K. H. Lee, J. S. Park, S. B. Lee and C. J. Kim, “Study on Terrain-Following Trajectory Generation Using RRT Algorithm,” KSAS Spring Conference 2023, Korea, pp. 180-181, Apr. 2023.
Y. J. Kim, S. S. Park and C. K. Ryoo, “A Slope Based Terrain-Following Trajectory Generation Method Using a Terrain Database,” KSAS Spring Conference 2016, Korea, pp. 471-473, Apr. 2016.