항만시설 관리를 위한 무인수상선 응용에 관한 연구

Abstract

This paper introduces tasks to utilize a catamaran-type autonomous surface vehicle (ASV) for autonomous and effective management of port infrastructure. For performing these tasks, the guidance, navigation, and control (GNC) system as wellas perception systems including an optical camera, a lidar, and underwater sonar sensors are fundamentally required within the ASV. In addition, for checking the surface status of port facilities, the synchronized sensor systems including perception, motion, and navigation information of the ASV and the data process technologies for minimizing the effect caused by marine environmental disturbances are implemented. This paper describes the results of preliminary experiments to show how the proposed systems and technologies for managing port facilities can be used.