무인수상선 아라곤호의 충돌회피에 관한 연구

Abstract

ARAGON, which is an unmanned surface vehicle (USV) for ocean observation and sea surveillance of Korea Research Institute of Ships and Ocean Engineering (KRISO) funded by the R&D project of Ministry of Maritime Affairs and Fisheries in Korea. A collision avoidance system (CAS) by using changeable action space searching is developed for ARAGON. Obstacles are detected by using AIS, radar, Lidar and EO/IR (Electro Optical/Infra-Red) camera. In CAS of ARAGON, obstacle is recognized by using radar. The route for collision avoidance is searched by using obstacle information and fuzzy inference on collision risk. In order to evaluate the performance of CAS of ARAGON, field test are carried out in actual sea on head-on and crossing with obstacle. In this paper, the main features of ARAGON and its CAS and main results of field test are described.a. A collision avoidance system (CAS) by using changeable action space searching is developed for ARAGON. Obstacles are detected by using AIS, radar, Lidar and EO/IR (Electro Optical/Infra-Red) camera. In CAS of ARAGON, obstacle is recognized by using radar. The route for collision avoidance is searched by using obstacle information and fuzzy inference on collision risk. In order to evaluate the performance of CAS of ARAGON, field test are carried out in actual sea on head-on and crossing with obstacle. In this paper, the main features of ARAGON and its CAS and main results of field test are described.