대한조선학회논문집 (Journal of the Society of Naval Architects of Korea)

  • 제60권6호
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  • Pages.406-415
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  • 2023
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  • 1225-1143(pISSN)
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  • 2287-7355(eISSN)
대한조선학회 (The Society of Naval Architects of Korea)
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Unity-ROS 시뮬레이터 기반의 자율운항 시스템 개발 및 검증

Development of Autonomous Navigation System Using Simulation Based on Unity-ROS

  • 김기원 (한화시스템 해양연구소) ;
  • 방현태 (충남대학교 자율운항시스템공학과) ;
  • 서정화 (충남대학교 자율운항시스템공학과) ;
  • 윤원근 (충남대학교 자율운항시스템공학과)
  • Kiwon Kim (Naval R&D Center, Hanwha systems) ;
  • Hyuntae Bang (Department of Autonomous Vehicle System Engineering, Chungnam National Univeristy) ;
  • Jeonghwa Seo (Department of Autonomous Vehicle System Engineering, Chungnam National Univeristy) ;
  • Wonkeun Youn (Department of Autonomous Vehicle System Engineering, Chungnam National Univeristy)
  • 투고 : 2023.06.15
  • 심사 : 2023.09.25
  • 발행 : 2023.12.20
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초록

In this study, we focused on developing and verifying ship collision avoidance algorithms using Unity simulator and ROS(Robot Operating System). ROS is used to establish an environment where communication between different operating systems is possible, and a dynamic model of a ship is constructed within Unity simulator. The Lidar data collected in Unity environment is passed to the system based on python through ROS. In the system based on python, control command values were created through the logic of the collision avoidance algorithm using data, and the values were transferred back to Unity to control the movement of the virtual ship. Through the developed simulation system, the reliability of the collision avoidance algorithm of ships with two different forms in an environment similar to the actual physical world was confirmed. As a result, it was confirmed on the simulator that it could be avoided without collision even in an environment with various types of obstacles, and that the avoidance characteristics according to the dynamics of the ship could be analyzed.

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과제정보

이 논문은 2023년도 정부(산업통상자원부)의 재원으로 한국산업기술진흥원의 지원을 받아 수행된 연구임 (P0017006, 2023년 산업혁신인재성장지원사업)

참고문헌

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