무인수상선의 최소 선회 반경을 고려한 충돌 회피 경로 생성에 관한 실험

Abstract

This paper addresses a collision prediction and resolution algorithm that avoids an obstacle considering position uncertainty of an autonomous surface vehicle (ASV) for automatically surveying and monitoring underwater environments. A zoneof high potential for collision risk between the vehicle and obstacle is defined as a collision risk zone, and a collision-free path for avoiding the zone is generated considering the minimum turning radius of the vehicle. In order to demonstrate the practical feasibility of the proposed approach, field tests were performed in an inland water environment, and the results were described.