Journal of the Korea Institute of Military Science and Technology (한국군사과학기술학회지)

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
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A Study on the Formation Control Algorithm of Multi-USVs According to COLREGs

국제해상충돌예방규칙에 따른 군집 무인수상정의 편대 제어 알고리즘 연구

  • Jinyeong, Heo (Department of Industrial Engineering, Ajou University) ;
  • Hyunseok, Kim (Department of Computer Science, Hanyang University) ;
  • Sungjun, Shim (Unmanned/Intelligent Robotic Systems, LIG Nex1 Co., Ltd.) ;
  • Jooyoung, Kim (Unmanned/Intelligent Robotic Systems, LIG Nex1 Co., Ltd.) ;
  • Jaekwan, Ryu (Unmanned/Intelligent Robotic Systems, LIG Nex1 Co., Ltd.) ;
  • Yongjin, Kwon (Department of Industrial Engineering, Ajou University)
  • 허진영 (아주대학교 산업공학과) ;
  • 김현석 (한양대학교 컴퓨터소프트웨어학과) ;
  • 심성준 (LIG넥스원(주) 무인체계연구소) ;
  • 김주영 (LIG넥스원(주) 무인체계연구소) ;
  • 유재관 (LIG넥스원(주) 무인체계연구소) ;
  • 권용진 (아주대학교 산업공학과)
  • Received : 2022.06.20
  • Accepted : 2022.11.29
  • Published : 2022.12.05
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Abstract

In this paper, we propose a formation control algorithm for multi-USVs according to COLREGs. First, we applied the Dynamic Window Approach algorithm that can reflect the kinematic characteristics for the path movement of USVs. Then, we propose a virtual structure-based virtual leader-follower method that applies the advantages of leader-follower and virtual structure methods among conventional formation control algorithms for stability. Next, we proposed a collision avoidance algorithm according to all COLREGs when encountering an opposing ship by adding COLREGs situational conditions to the virtual leader, and finally confirmed the feasibility of the proposed method through simulation.

Keywords

Acknowledgement

본 논문은 LIG Nex1에서 주관하는 "다중 무인체계 유무인 협동 시뮬레이터 개발(계약번호 Y21-C023)" 산학과제의 지원으로 작성되었습니다.

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