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

  • 제61권2호
  • /
  • Pages.106-114
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  • 2024
  • /
  • 1225-1143(pISSN)
  • /
  • 2287-7355(eISSN)
대한조선학회 (The Society of Naval Architects of Korea)
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Obstacle Zone by Target 기반 선박 충돌회피 알고리즘 개발에 관한 연구

A Study on Collision Avoidance Algorithm Based on Obstacle Zone by Target

  • 이찬욱 (한국해양대학교 조선해양시스템공학과) ;
  • 이성욱 (한국해양대학교 조선해양시스템공학부)
  • Chan-Wook Lee (Department of Naval Architecture and Ocean System Engineering, Korea Maritime and Ocean University) ;
  • Sung-Wook Lee (Major of Naval Architecture and Ocean System Engineering, Korea Maritime and Ocean University)
  • 투고 : 2023.12.26
  • 심사 : 2024.03.07
  • 발행 : 2024.04.20
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초록

In the 21st century, the rapid development of automation and artificial intelligence technologies is driving innovative changes in various industrial sectors. In the transportation industry, this is evident with the commercialization of autonomous vehicles. Moreover research into autonomous navigation technologies is actively underway in the aviation and maritime sectors. Consequently, for the practical implementation of autonomous ships, an effective collision avoidance algorithm has become a crucial element. Therefore, this study proposes a collision avoidance algorithm based on the Obstacle Zone by Target(OZT), which visually represents areas with a high likelihood of collisions with other ships or obstacles. The A-star algorithm was utilized to represent obstacles on a grid and assess collision risks. Subsequently, a collision avoidance algorithm was developed that performs fuzzy control based on calculated waypoints, allowing the vessel to return to its original course after avoiding the collision. Finally, the validity of the proposed algorithm was verified through collision avoidance simulations in various encounter scenarios.

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참고문헌

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