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http://dx.doi.org/10.7837/kosomes.2021.27.6.867

Autonomous Path-Tracking Performance of an OmniX-Type Boat Based on Open-Source Ardupilot with RTK GPS  

An, Nam-Hyun (Department of Naval Architecture and Ocean Engineering, Koje University)
Gu, Bon-Kuk (Department of Naval Architecture and Ocean Engineering, Changwon National University)
Park, Hui-Seung (Green-ship Research Center, Shipbuilding & Offshore Engineering Research Division, Research Institute of Medium & Small Shipbuilding)
Jang, Ho-Yun (Green-ship Research Center, Shipbuilding & Offshore Engineering Research Division, Research Institute of Medium & Small Shipbuilding)
Publication Information
Journal of the Korean Society of Marine Environment & Safety / v.27, no.6, 2021 , pp. 867-874 More about this Journal
Abstract
The IoT (Internet of Things) technology is rapidly becoming an important consideration in many engineering fields in the current 4th industrial era. In recent years, the concepts of digital shipbuilding and smart factories have been adopted as trends in shipyards. However, there is active interest in research on implementing autonomous driving in autonomous vehicles and airplanes, which is currently available in commercial form in a limited capacity. The present study is regarding the path-tracking performance of a boat to accomplish an autonomous driving mission using a flight controller (FC) and real-time kinematic (RTK) global positioning system (GPS) based on an open-source Ardupilot; an actual sea test is also performed using this system on a calm lake. The boat's mission is to evaluate the maneuverability of the self-driving process to a specific point and returning to the home position. For a given speed, the difference between the preset mission trajectory and actual operational trajectory was analyzed, and a series of studies were conducted on the applicability of the system to ships. In addition, the movements and maneuverability of the OmniX-type hull with four propellers were investigated, and the driving path-tracking performance was observed to increase by a maximum of 48%.
Keywords
Autonomous driving; Path-tracking performance; Ardupilot; Pixhawk; Flight controller; Mission way point;
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Times Cited By KSCI : 1  (Citation Analysis)
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