자율 운항을 고려한 소형 무인선 프로토타입의 구성 (Configuration of Small Unmanned Vessel Considering Autonomous Navigation)

서지정보

· 발행기관 : 한국CDE학회
· 수록지 정보 : 한국CDE학회 논문집 / 27권 / 4호 / 402 ~ 413페이지
· 저자명 : 정선종, 하솔, 차주환, 이지환

초록

This study proposed a method of manufacturing a small unmanned vessel with an autonomous navigation algorithm using open-source software. Since there are not many small unmanned vessels to experience autonomous navigation, a cheap and simple way to construct a vessel was proposed. The catamaran type hull, which has more restoring moment and storage space, was adopted to increase the stability of the hull and to consider the arrangement of the sensors and the control device inside. An autonomous navigation algorithm was developed using Robot Operating System (ROS), which is a famous open source software for controlling a robot. Before an actual navigation, a vessel makes a map as it navigates around by applying the simul taneous localization and mapping (SLAM) technique and LiDAR sensor. After creating the map, the vessel can move to any places in the map by using this map and LiDAR Sensor. If there are unexpected obstacles detected by LiDAR sensor, it can change its pre-scheduled path and avoid them by using the navigation algorithm. The vessel and developed algorithm were tested in a water tank confirmed.

영어초록

This study proposed a method of manufacturing a small unmanned vessel with an autonomous navigation algorithm using open-source software. Since there are not many small unmanned vessels to experience autonomous navigation, a cheap and simple way to construct a vessel was proposed. The catamaran type hull, which has more restoring moment and storage space, was adopted to increase the stability of the hull and to consider the arrangement of the sensors and the control device inside. An autonomous navigation algorithm was developed using Robot Operating System (ROS), which is a famous open source software for controlling a robot. Before an actual navigation, a vessel makes a map as it navigates around by applying the simul taneous localization and mapping (SLAM) technique and LiDAR sensor. After creating the map, the vessel can move to any places in the map by using this map and LiDAR Sensor. If there are unexpected obstacles detected by LiDAR sensor, it can change its pre-scheduled path and avoid them by using the navigation algorithm. The vessel and developed algorithm were tested in a water tank confirmed.

참고자료

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