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[ 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 | |
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 | |
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 | |
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.
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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