무인수상선-수중자율이동체 복합체계를 위한 FSM기반 임무 관리 / 계획기 설계

Abstract

Recent research on multi-agent/heterogeneous complex unmanned systems is expanding the range of missions that unmanned systems such as Unmanned Surface Vessel(USV) and Autonomous Underwater Vehicle(AUV) can perform. To effectively operate such a complex system, it is necessary to develop a system that plans/manages missions at top-side level and commands actions to various component systems. This paper deals with the development of a Top-side Planner/Manager applicable to UAS (USV-AUVs System) currently being developed by KRISO. The mission planner/manager includes Finite State Machine(FSM), the most widely used behavior model, and manages missions intuitively and reliably. A "Global FSM" that handle the overall mission flow, "Local FSMs" that represent the state of each component system, and command actions are hierarchically structured. Based on the documented system analysis and mission information, this study first defined task units that each system can perform. And by using this as the minimum command unit, components of FSM is designed to perform the mission. Emergency situations that may occur are also defined/classified, and based on this, components of the FSM are transitioned to respond to problems and re-plan missions. The designed FSM was implemented as software in the form of a ROS2 package. The software can perform standalone simulations that virtually interface with component systems. In this paper, the designed mission plan was partially verified through the simulation function of the software.