• 대한임베디드공학회논문지
• /
• 제13권2호
• /
• pp.65-71
• /
• 2018

In order to make the underwater vehicle carry out the mission in a submarine environment, it is needed to plan a safe and efficient route to a given destination and prevent the autonomous submersible from colliding with obstacles while moving along the planned route. The function of collision avoidance makes the travel distance of the autonomous submersible longer. Moreover, it should move slowly near to obstacles against their moving disturbance. As a result, this invokes the degradation of the navigation efficiency in the process of collision avoidance. The side effect of the collision avoidance is not ignorable in the case of high congested environments such as the coast with many obstacles. In this paper, we suggest a path planning method which provides the route with minimum travel time considering collision avoidance in congested environment. For the purpose, we define environmental congestion map related to geometric information and obstacles. And we propose a method to consider the moving cost in the RRT scheme that provides the existing minimum distance path. We verified that the efficiency of our algorithm with simulation experiments.

• Journal of Platform Technology
• /
• 제10권4호
• /
• pp.56-61
• /
• 2022

제4차 산업혁명을 통하여 발견된 다양한 융합기술은 산업에 스며들고 있다. 드론은 융합기술을 기반으로 건설, 교통, 국방 등의 산업에서 활용되고 있다. 회전익 드론 조종은 눈으로 보며 동작시키는 가시권에서부터 GCS를 활용한 원격지 비 가시권까지 다양한 범위에서 활용되고 있다. 산업용 드론을 운영하는 관계자를 분류하면 드론을 직접 활용하는 일반 조종자, 드론 조종자를 양성하는 교관, 드론의 상태를 점검하고 장기간 활용할 수 있게 하는 정비사 등이 있다. 드론 GCS의 화면은 어떠한 형태로 나타나느냐에 따라서 사용자의 빠른 대응, 또는 핵심적인 데이터를 획득할 수 있다. 이에 따라 본 연구에서는 미션플래너 GCS를 대상으로 GUI 특성을 분석하여 사용자에 따른 화면 구성방안을 설계하였다.

• 수산해양기술연구
• /
• 제58권2호
• /
• pp.130-140
• /
• 2022

Recently, wideband acoustic technology has been introduced and started to be used in fisheries acoustic surveys in various waters worldwide. Wideband acoustic data provides high vertical resolution, high signal-to-noise ratio and continuous frequency characteristics over a wide frequency range for species identification. In this study, the main characteristics of wideband acoustic systems were elaborated, and a general methodology for wideband acoustic data analysis was presented using data collected in frequency modulation mode for the first time in Republic of Korea. In particular, this study described the data recording method using the mission planner of the wideband autonomous acoustic system, wideband acoustic data signal processing, calibration and the wideband frequency response graph. Since wideband acoustic systems are currently installed on many training and research vessels, it is expected that the results of this study can be used as basic knowledge for fisheries acoustic research using the state-of-the-art system.