• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.2
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• pp.21-32
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• 1997

This paper proposes an elliptical world-modeling mehtrod in order to secure the safety of the mobile robot from the unreliability of ultrasonic sensors and to estimate the lateral orientation of the detected objects. This method is advnatageous because the total amount of data that the robot utilizes is reduced when historical and new data are clusterd during each sensing period and also because the objects in the environment can be almost exactly recognized. This paper also proposes a new local path planning algorithm which is divided into four different situations and gudies the robot through the safe local path using dat acollected in elliptical form. This algorithm can help the AMR navigate by allowing it to sum up the virtual vector forces made form the ellipses in order to select a safe subgoal. This local path plannin gmehtod using the elliptical world model has been proved by several navigation experiments.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2012.06a
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• pp.458-460
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• 2012

1970년대에는 일반적으로 상선에 30-40명의 선원이 탑승했었지만, 최근에는 선박의 자동화와 경제적 문제 때문에 점점 선원수를 줄이고 있는 실정이다. 그러나 최근 통계에 따르면 해양사고의 약 80% 정도가 human error에 의해 발생하고 있으며, 이러한 이유중의 하나는 선원 1명당 부과되는 작업량 과다에 있기도 하다. 즉 선원수의 감소는 업무 또는 작업량의 증가를 가져왔고, 하루에 14-18시간 일하는 것은 특별한 일이 아니게 되었다. 따라서 사고의 증가를 유발하지 않는 범위 내에서 선원수의 감소 범위 산정은 경제적 문제로 인해 크게 대두되고 있다. 현재 안전성과 효율성을 고려한 선원수 산정에 대한 정확한 근거 및 산정자료는 없지만, 최근 IMO, 미해안경비대 (US Coast Guard ; 이하 USCG) 등에서 안전승무정원(safe manning)에 관한 논의 및 연구가 진행되고 있다. 본 논문에서는 선박의 안전승무정원의 평가모델에 대한 최근 국내외 연구현황을 정리하고, 국내 수용을 위한 방안을 제시하고자 한다.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2018.11a
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• pp.175-176
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• 2018

여름철 북극 해빙 면적의 감소 추세로 빙해선박의 북극항로 통항회수가 증가하고 있어 선박의 안전 항해를 위한 기술 개발에 관심이 집중되고 있다. 본 연구에서는 선박해양플랜트연구소에서 개발 중인 KRISO Arctic Safe Routing System(KARS)의 개념과 함께 핵심 모듈 중 하나인 빙저항 추진 성능 DB 개발 과정을 소개하였다. 우선 빙해수조에서 다양한 빙상환경(평탄빙, 유빙, 빙맥 등)에 따른 선박의 빙성능 평가 시험을 수행한 후 대상선박의 기본적인 빙성능을 도출하였고 빙성능 추정 S/W의 해석결과와 비교 검증을 수행하여 다양한 환경 변수를 고려한 빙저항 추진 성능 DB를 생성하였다. 아울러, 생성된 DB의 검증을 위해 2017년 8월 쇄빙연구선 아라온의 빙해역 실선시험 동안 계측된 결과와 비교 분석하여 정확도를 분석하였고 KARS의 개선 사항 및 향후 활용 가능성을 고찰하였다.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2018.11a
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• pp.173-174
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• 2018

온난화 현상으로 북극 해빙 속도가 가속화되면서 북극 운항 선박이 증가하고 있어 선박의 안전 항해를 위한 기술개발이 요구되고 있다. 본 연구에서는 선박해양플랜트연구소에서 개발 중인 KRISO Arctic Safe Routing System(KARS)의 안전 최적항로 계획 방법의 선박실 운항 추진성능 모델 과 선박 고유의 빙 저항 추진 성능 데이터베이스 구성 내용을 소개하였다. 추진성능 모델은 예인 수조시험의 속도-마력 -RPM 성능 데이터와 실 운항에서 조우할 수 있는 바람, 파도 등의 외란에 기인하는 부가저항 및 빙해수조 결과를 바탕으로 다양한 빙상환경에 따른 빙 성능 추정결과를 활용하여 ISO15016: 2002 기반으로 Calm sea 및 빙 해역에서의 선박 속도-마력 성능에서 외란에 의한 부가저항에 따른 소요마력 및 속도변화를 추정하도록 하였다. 제안된 성능모델은 최적 북극항로 탐색 모듈과 결합되어 안전한 북극항로를 도출할 수 있음을 확인하였다.

• Journal of Positioning, Navigation, and Timing
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• v.11 no.4
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• pp.389-395
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• 2022

In order to ensure reliability the high-level automated driving such as Advanced Driver Assistance System (ADAS) and universal robot taxi provided by autonomous driving systems, the operation with high integrity must be generated within the defined Operation Design Domain (ODD). For this, the position and posture accuracy requirements of autonomous driving systems based on the safety driving requirements for autonomous vehicles and domestic road geometry standard are necessarily demanded. This paper presents localization requirements for safe road driving of autonomous ground vehicles based on the requirements of the positioning system installed on autonomous vehicle systems, the domestic road geometry standard and the dimensions of the vehicle to be designed. Based on this, 4 Protection Levels (PLs) such as longitudinal, lateral, vertical PLs, and attitude PL are calculated. The calculated results reveal that the PLs are more strict to urban roads than highways. The defined requirements can be used as a basis for guaranteeing the minimum reliability of the designed autonomous driving system on roads.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2022.06a
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• pp.441-442
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• 2022

This is a study on the design and operation software development of an accident response support service for MASS(maritime autonomous surface ship) that provides accident response support information according to ship accident classification when a ship accident occurs due to the operation of MASS

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.9
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• pp.402-412
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• 2002

The navigation algorithms enable autonomous mobile robots to reach given target points without collision against obstacles. To achieve safe navigations in unknown environments, this paper presents an effective navigation algorithm for the autonomous mobile robots with ultrasonic sensors. The proposed navigation algorithm consists of an obstacle-avoidance behavior, a target-reaching behavior and a fuzzy-based decision maker. In the obstacle-avoidance behavior and the target-reaching behavior, artificial immune networks are used to select a proper steering angle, make the autonomous mobile robot avoid obstacles and approach a given target point. The fuzzy-based decision maker combines the steering angles from the target-reaching behavior and the obstacle-avoidance behavior in order to steer the autonomous mobile robot appropriately. Simulational and experimental results show that the proposed navigation algorithm is very effective in unknown environments.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.134.6-134
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• 2001

The purpose of navigation algorithm is to reach a given target point without collision with obstacles while an autonomous mobile robot is navigating. To achieve a safe navigation, this paper presents an effective navigation algorithm for the autonomous mobile robot equipped with ultrasonic sensors in unknown environments. The proposed navigation algorithm consists of an obstacle-avoidance behavior, a target-reaching behavior and a fuzzy-based decision maker. In the obstacle-avoidance behavior and the target-reaching behavior, artificial immune networks are used to select a proper steering angle, make the autonomous mobile robot avoid obstacles and approach a given target point. The decision maker using fuzzy inference systems weights the steering angles selected ...

• Journal of Navigation and Port Research
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• v.34 no.9
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• pp.693-698
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• 2010

In port and its approach channel, traffic accidents such as collision, aground, minor collision have reached about 77% of total marine casualty in the area. In this paper, an attempt to enhance the safe navigation was proposed by offering marine traffic supporting system which helps VTS operator assist vessel effectively with the quantitative assessment on difficulty of each vessel. The system collects navigation data from onboard AIS, assesses the data in assessment mode to analyze the navigation difficulties of each vessel and displays the degree of danger of each vessel on the ECDIS in real-time to decide the intervention time or order of priority for VTS operator. The effectiveness of the system was verified by the VTS operators in Korea.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.251-257
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• 2012

Unmanned ground vehicles have important military, reconnaissance, and materials handling application. Many of these applications require the UGVs to move at high speeds through uneven, natural terrain with various compositions and physical parameters. This paper presents a framework for high speed autonomous navigation based on the integrated real time traversability. Specifically, the proposed system performs real-time dynamic simulation and calculate maximum traversing velocity guaranteeing safe motion over rough terrain. The architecture of autonomous navigation is firstly presented for high-speed autonomous navigation. Then, the integrated real time traversability, which is composed of initial velocity profiling step, dynamic analysis step, road classification step and stable velocity profiling step, is introduced. Experimental results are presented that demonstrate the method for a $6{\times}6$ autonomous vehicle moving on flat terrain with bump.