한국시뮬레이션학회논문지 (Journal of the Korea Society for Simulation)

한국시뮬레이션학회 (The Korea Society for Simulation)
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하이브리드형 임무계획을 고려한 군집 무인수상정 시뮬레이션 시스템의 연동 인터페이스 설계 및 구현

Design and Implementation of Interface System for Swarm USVs Simulation Based on Hybrid Mission Planning

  • 박희문 (한양대학교 대학원 산업경영공학과) ;
  • 주학종 (한국기술교육대학교 대학원 컴퓨터공학과) ;
  • 서경민 (한양대학교 ERICA 산업경영공학과) ;
  • 최영규 (한국기술교육대학교 컴퓨터공학부)
  • 투고 : 2022.01.22
  • 심사 : 2022.07.18
  • 발행 : 2022.09.30
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초록

국방 분야는 아군 피해를 최소화하고 전투 효과를 향상하기 위해 무인 시스템을 운용한다. 해군의 무인수상정(USV, Swarm Unmanned Surface Vehicle)은 통신범위 내 군집 형성과 USV 간의 상황인식 정보공유를 통해 임무를 수행한다. 본 논문은 무인수상정의 내부 연동 및 외부 연동을 위한 인터페이스 연동어댑터 시스템(IAS, Interface Adapter System)을 제안한다. IAS는 USV의 자율운항 경로생성과 무장할당을 계획하는 임무계획 부체계(MPS, Mission Planning Subsystem)의 타 부체계 간 연동을 담당하며, 주요 기능은 MPS와 타 부체계 간 인터페이스 데이터를 실시간으로 교환하는 것이다. 이를 위해, MPS의 기능 요구사항과 연동 메시지를 식별 및 분석하였고, 실시간 분산처리 미들웨어를 활용하여 IAS를 구현하였다. 실험은 군집 USV 시뮬레이션 환경을 통한 다수의 통합시험을 수행하였으며, 지연시간과 연동 메시지 손실률을 측정하였다. 그 결과, 제안한 IAS는 MPS와 타 부체계 간 성공적인 가교역할을 수행할 것으로 기대한다.

Defense fields widely operate unmanned systems to lower vulnerability and enhance combat effectiveness. In the navy, swarm unmanned surface vehicles(USVs) form a cluster within communication range, share situational awareness information among the USVs, and cooperate with them to conduct military missions. This paper proposes an interface system, i.e., Interface Adapter System(IAS), to achieve inter-USV and intra-USV interoperability. We focus on the mission planning subsystem(MPS) for interoperability, which is the core subsystem of the USV to decide courses of action such as automatic path generation and weapon assignments. The central role of the proposed system is to exchange interface data between MPSs and other subsystems in real-time. To this end, we analyzed the operational requirements of the MPS and identified interface messages. Then we developed the IAS using the distributed real-time middleware. As experiments, we conducted several integration tests at swarm USVs simulation environment and measured delay time and loss ratio of interface messages. We expect that the proposed IAS successfully provides bridge roles between the mission planning system and other subsystems.

키워드

과제정보

본 연구는 국방과학연구소 미래도전 프로그램의 지원으로 수행되었음. 이 논문은 2021년도 한국기술교육대학교 교수 교육연구진흥과제 지원에 의하여 연구되었음.

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