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Development of Autonomous Algorithm for Boat Using Robot Operating System

로봇운영체제를 이용한 보트의 자율운항 알고리즘 개발

  • Jo, Hyun-Jae (Department of Marine Design Convergence Engineering, Pukyong National University) ;
  • Kim, Jung-Hyeon (Department of Marine Design Convergence Engineering, Pukyong National University) ;
  • Kim, Su-Rim (Department of Marine Design Convergence Engineering, Pukyong National University) ;
  • Woo, Ju-Hyun (Naval Architecture and Ocean Systems Engineering, Korea Maritime and Ocean University) ;
  • Park, Jong-Yong (Department of Naval Architecture and Marine System Engineering, Pukyong National University)
  • 조현재 (부경대학교 마린융합디자인공학과) ;
  • 김정현 (부경대학교 마린융합디자인공학과) ;
  • 김수림 (부경대학교 마린융합디자인공학과) ;
  • 우주현 (한국해양대학교 조선해양시스템공학부) ;
  • 박종용 (부경대학교 조선해양시스템공학과)
  • Received : 2020.11.16
  • Accepted : 2021.02.10
  • Published : 2021.04.20

Abstract

According to the increasing interest and demand for the Autonomous Surface Vessels (ASV), the autonomous navigation system is being developed such as obstacle detection, avoidance, and path planning. In general, autonomous navigation algorithm controls the ship by detecting the obstacles with various sensors and planning path for collision avoidance. This study aims to construct and prove autonomous algorithm with integrated various sensor using the Robot Operating System (ROS). In this study, the safety zone technique was used to avoid obstacles. The safety zone was selected by an algorithm to determine an obstacle-free area using 2D LiDAR. Then, drift angle of the ship was controlled by the propulsion difference of the port and starboard side that based on PID control. The algorithm performance was verified by participating in the 2020 Korea Autonomous BOAT (KABOAT).

Keywords

References

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