군집 무인수상선의 연계 운용을 위한 네트워크 구조 설계

Abstract

This paper presents the network design of Multiple Unmanned Surface Vehicle System(USV) for its cooperative mission. The whole system is composed of three USVs, and each USV is equipped with a radar, a lidar, and two cameras. Each vehicle is designed to have capability of operating as an independent USV, and also as a member of a cooperative multiple USVs. From the perspective of situational awareness funcionality, each radar, lidar, camera based object detection algorithm is performed simultaneously in individual vehicles, and data fusion is performed using each vehicle’s detection data. In order to develop such cooperative multiple mobile robot system, there are important design considerations for network configuration. This paper addresses the network design of KRISO’s multiple USV system which implemented ROS multimaster package to achieve association of multiple ROS networks.