동적 장애물과의 충돌 회피를 위한 무인수상선의 경로 생성 및 실험

Abstract

This study focuses on implementing and demonstrating for collision-free autonomous navigation of an autonomous surface vehicle (ASV). A zone of high potential for collision risk between the ASV and a dynamic obstacle is preferentially defined as a collision risk zone (CRZ). Subsequently, a collision-free path for avoiding the CRZ is generated by Dubins curve 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 briefly described.