Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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Behavior-based Control Considering the Interaction Between a Human Operator and an Autonomous Surface Vehicle

운용자와 자율 무인선 상호 작용을 고려한 행위 기반의 제어 알고리즘

  • Received : 2019.10.11
  • Accepted : 2019.11.23
  • Published : 2019.12.30
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Abstract

With the development of robot technology, the expectation of autonomous mission operations has increased, and the research on robot control architectures and mission planners has continued. A scalable and robust control architecture is required for unmanned surface vehicles (USVs) to perform a variety of tasks, such as surveillance, reconnaissance, and search and rescue operations, in unstructured and time-varying maritime environments. In this paper, we propose a robot control architecture along with a new utility function that can be extended to various applications for USVs. Also, an additional structure is proposed to reflect the operator's command and improve the performance of the autonomous mission. The proposed architecture was developed using a robot operating system (ROS), and the performance and feasibility of the architecture were verified through simulations.

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References

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