선박충돌예방규칙에 따른 무인선 충돌회피에 대한 시험적 연구

Abstract

In order to prevent the collision accidents with manned vehicles in the sea, unmanned surface vehicle (USV) should keep the convention on the international regulations for preventing collisions at sea (COLREGs). A collision avoidance system has been developed for the autonomous navigation of USV, ARAGON II in KRISO. In this paper, the performance tests on the collision avoidance system of ARAGON II are carried out. To check into autonomous navigation of ARAGON II according to COLREGs, sea trial tests on collision avoidance in the colliding situations with multiple traffic ships such as head-on, crossing and overtaking. Three powerboats are used for traffic ships with two virtual traffic ships and sensor fusionbased obstacle information is used for collision avoidance. The main results of sea trial test on collision avoidance and the features of autonomous navigation system in ARAGON II are described.