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시뮬레이션 기반 무인선 타선추적제어 알고리듬 개발에 관한 연구A Study on the Algorithm of Target Tracking System for USV based on Simulation Method
- Other Titles
- A Study on the Algorithm of Target Tracking System for USV based on Simulation Method
- Issue Date
- 12월-2015
- Publisher
- 선박해양플랜트연구소
- Keywords
- USV; Planing hull; Target; Tracking; Control
- Citation
- 선박해양기술, v.56, no.1, pp 19 - 25
- Pages
- 7
- Journal Title
- 선박해양기술
- Volume
- 56
- Number
- 1
- Start Page
- 19
- End Page
- 25
- Abstract
- USV(Unmanned Surface Vehicle) is a ship which operates without a crew. It is crucial that autonomous navigation system of USV is able to make decisions with situational awareness for unmanned operations. In this study, the design and operation of target tracking algorithm for autonomy of USV are presented. The algorithm consists of 2 functions: tracking the target with angle of LOS(line of sight) and with tactical turning. The algorithm was evaluated by simulations based on practical mathematical model to enhance robustness of the controller.
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