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http://dx.doi.org/10.7837/kosomes.2022.28.2.370

Study on the Shortest Path finding of Engine Room Patrol Robots Using the A* Algorithm  

Kim, Seon-Deok (Division of Marine Engineering, Mokpo National Maritime University)
Publication Information
Journal of the Korean Society of Marine Environment & Safety / v.28, no.2, 2022 , pp. 370-376 More about this Journal
Abstract
Smart ships related studies are being conducted in various fields owing to the development of technology, and an engine room patrol robot that can patrol the unmanned engine room is one such study. A patrol robot moves around the engine room based on the information learned through artificial intelligence and checks the machine normality and occurrence of abnormalities such as water leakage, oil leakage, and fire. Study on engine room patrol robots is mainly conducted on machine detection using artificial intelligence, however study on movement and control is insufficient. This causes a problem in that even if a patrol robot detects an object, there is no way to move to the detected object. To secure maneuverability to quickly identify the presence of abnormality in the engine room, this study experimented with whether a patrol robot can determine the shortest path by applying the A* algorithm. Data were obtained by driving a small car equipped with LiDAR in the ship engine room and creating a map by mapping the obtained data with SLAM(Simultaneous Localization And Mapping). The starting point and arrival point of the patrol robot were set on the map, and the A* algorithm was applied to determine whether the shortest path from the starting point to the arrival point was found. Simulation confirmed that the shortest route was well searched while avoiding obstacles from the starting point to the arrival point on the map. Applying this to the engine room patrol robot is believed to help improve ship safety.
Keywords
Patrol robot; $A^{*}$ algorithm; SLAM; Path finding; Engine room;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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