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http://dx.doi.org/10.26748/KSOE.2019.093

Behavior-based Control Considering the Interaction Between a Human Operator and an Autonomous Surface Vehicle  

Cho, Yonghoon (Department of mechanical engineering, KAIST)
Kim, Jonghwi (Department of mechanical engineering, KAIST)
Kim, Jinwhan (Department of mechanical engineering, KAIST)
Jo, Yongjin (Unmanned/Robotic systems, LIG Nex1 CO., Ltd.)
Ryu, Jaekwan (Unmanned/Robotic systems, LIG Nex1 CO., Ltd.)
Publication Information
Journal of Ocean Engineering and Technology / v.33, no.6, 2019 , pp. 620-626 More about this Journal
Abstract
With the development of robot technology, the expectation of autonomous mission operations has increased, and the research on robot control architectures and mission planners has continued. A scalable and robust control architecture is required for unmanned surface vehicles (USVs) to perform a variety of tasks, such as surveillance, reconnaissance, and search and rescue operations, in unstructured and time-varying maritime environments. In this paper, we propose a robot control architecture along with a new utility function that can be extended to various applications for USVs. Also, an additional structure is proposed to reflect the operator's command and improve the performance of the autonomous mission. The proposed architecture was developed using a robot operating system (ROS), and the performance and feasibility of the architecture were verified through simulations.
Keywords
Behavior based control; Unmanned surface vehicles; Robot system architecture; Artificial intelligence; Human operator;
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