준실시간 해상교통 정보를 반영한 자율운항 알고리즘 검증용 시뮬레이션 시스템 개발

Abstract

In this study, a simulation system was developed to verify autonomous navigation algorithm in complex maritime traffic areas. In particular, real-world maritime traffic scenario was applied by considering near real-time maritime traffic information provided by Korean e-Navigation service. For this, a navigation simulation system of unmanned surface vehicle (USV) was integrated with an e-Navigation equipment, called electronic chart system (ECS). To verify autonomous navigation algorithm in the simulation system, initial conditions including initial position of an own ship and a set of paths for the ship to follow are assigned by an operator.Then, considering real-world maritime traffic information obtained from the service, the simulation is implemented in which the ship repeatedly travels by avoiding surrounding obstacles (e.g., approaching ships). In this paper, the developed simulation system and its application on verification of the autonomous navigation algorithm in complex maritime traffic areas are introduced.