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http://dx.doi.org/10.3744/SNAK.2021.58.2.121

Development of Autonomous Algorithm for Boat Using Robot Operating System  

Jo, Hyun-Jae (Department of Marine Design Convergence Engineering, Pukyong National University)
Kim, Jung-Hyeon (Department of Marine Design Convergence Engineering, Pukyong National University)
Kim, Su-Rim (Department of Marine Design Convergence Engineering, Pukyong National University)
Woo, Ju-Hyun (Naval Architecture and Ocean Systems Engineering, Korea Maritime and Ocean University)
Park, Jong-Yong (Department of Naval Architecture and Marine System Engineering, Pukyong National University)
Publication Information
Journal of the Society of Naval Architects of Korea / v.58, no.2, 2021 , pp. 121-128 More about this Journal
Abstract
According to the increasing interest and demand for the Autonomous Surface Vessels (ASV), the autonomous navigation system is being developed such as obstacle detection, avoidance, and path planning. In general, autonomous navigation algorithm controls the ship by detecting the obstacles with various sensors and planning path for collision avoidance. This study aims to construct and prove autonomous algorithm with integrated various sensor using the Robot Operating System (ROS). In this study, the safety zone technique was used to avoid obstacles. The safety zone was selected by an algorithm to determine an obstacle-free area using 2D LiDAR. Then, drift angle of the ship was controlled by the propulsion difference of the port and starboard side that based on PID control. The algorithm performance was verified by participating in the 2020 Korea Autonomous BOAT (KABOAT).
Keywords
Robot Operating System(ROS); Light Detection And Ranging(LiDAR); Proportional Integral Derivation Control; Autonomous driving; Obstacle avoidance; Safety zone;
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Times Cited By KSCI : 1  (Citation Analysis)
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