근거리용 무인탐사선의 자동운항시스템 개발

Abstract

An unmanned surface vehicle (USV), that automatically survey various information of ocean environment in the close range around the large mother ship, has been designed. To perform the observation in USV, auto-navigation system that follows a planned route is essential. In this study, we design an auto-navigation algorithm, where target auto-racking for target position and auto-returning for station are included. Additionally, the remote monitoring system that acquires the ocean information and sends it to the station is also developed. To evaluate the designed algorithms for USV, we conducted several model tests in a lake. In this paper, we describe the main features of our USV and discuss about the results of model tests.