RIB형 무인선의 침로 제어기 설계를 위한 운전자 조종입력패턴 분석

Abstract

Nowadays many USV(Unmanned Surface Vehicle)s are builded in type of RIB(Rigid Inflatable Boat), because it has good maneuverability at high speed running and it is easy to manufacture. As motion of RIB is sensitive to steering, we can find best steering input at turning, which makes better performance and smaller motion, based on pilot's experience. In this paper, to develop autopilot system of USV applied simple pattern of pilot's steering, two pilots steered RIB chasing 4 waypoints in sea trial test. From sea trial test, steering input of pilots and motion of RIB are analyzed. Finally steering input pattern of pilot is suggested which is useful for design of autopilot system of USV.