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

The Society of Naval Architects of Korea (대한조선학회)
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A Study on a Real-Time Aerial Image-Based UAV-USV Cooperative Guidance and Control Algorithm

실시간 항공영상 기반 UAV-USV 간 협응 유도·제어 알고리즘 개발

  • Do-Kyun Kim (Department of Marine Design Convergence Engineering Pukyong National University) ;
  • Jeong-Hyeon Kim (Department of Marine Design Convergence Engineering Pukyong National University) ;
  • Hui-Hun Son (Department of Marine Design Convergence Engineering Pukyong National University) ;
  • Si-Woong Choi (Department of Marine Design Convergence Engineering Pukyong National University) ;
  • Dong-Han Kim (Department of Naval Architecture and Marine System Engineering Pukyong National University) ;
  • Chan Young Yeo (Hanwha ocean R&D Institudey) ;
  • Jong-Yong Park (Department of Marine Design Convergence Engineering Pukyong National University)
  • 김도균 (국립부경대학교 마린융합디자인공학과 조선해양공학전공) ;
  • 김정현 (국립부경대학교 마린융합디자인공학과 조선해양공학전공) ;
  • 손희훈 (국립부경대학교 마린융합디자인공학과 조선해양공학전공) ;
  • 최시웅 (국립부경대학교 마린융합디자인공학과 조선해양공학전공) ;
  • 김동한 (국립부경대학교 조선해양시스템공학과) ;
  • 여찬영 (한화오션(주) 해양제품연구팀) ;
  • 박종용 (국립부경대학교 마린융합디자인공학과 조선해양공학전공)
  • Received : 2024.04.04
  • Accepted : 2024.08.12
  • Published : 2024.10.20
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Abstract

This paper focuses on the cooperation between Unmanned Aerial Vehicle (UAV) and Unmanned Surface Vessel (USV). It aims to develop efficient guidance and control algorithms for USV based on obstacle identification and path planning from aerial images captured by UAV. Various obstacle scenarios were implemented using the Robot Operating System (ROS) and the Gazebo simulation environment. The aerial images transmitted in real-time from UAV to USV are processed using the computer vision-based deep learning model, You Only Look Once (YOLO), to classify and recognize elements such as the water surface, obstacles, and ships. The recognized data is used to create a two-dimensional grid map. Algorithms such as A* and Rapidly-exploring Random Tree star (RRT*) were used for path planning. This process enhances the guidance and control strategies within the UAV-USV collaborative system, especially improving the navigational capabilities of the USV in complex and dynamic environments. This research offers significant insights into obstacle avoidance and path planning in maritime environments and proposes new directions for the integrated operation of UAV and USV.

Keywords

Acknowledgement

이 논문은 국립부경대학교 자율창의학술연구비(2022년)에 의하여 연구되었습니다.

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