2차원 공간에서 충돌 위험 영역을 고려한 수중 로봇의 충돌 회피 기법

Abstract

This paper presents a collision avoidance strategy of an underwater robot for avoidance in a two-dimensional space with a static underwater obstacle. For a collision risk prediction, a quantitative collision risk degree should be estimatedconsidering the position uncertainties of the robot and the detected obstacle, and a collision risk zone where exists probability of collision risk has to be established on the robot’s prediction trajectory. Then, in order to reduce the collision risk, the evasion waypoint for changing the heading angle of the robot is selected. For practical feasibility of the proposed approach, simulations are performed, and discussed.