무인수상선의 자율운항 및 3차원 정보 가시화 프레임워크 개발

Abstract

This paper describes the development of an autonomous navigation and 3D visualization framework for improving autonomy of an autonomous surface vehicle (ASV). For implementing the highly reliable autonomy, a guidance, navigation and control system as well as perception system including vision and LiDAR sensors were integrated on the ASV. Specifically, we developed a framework that can monitor the maritime surroundings in real time and visualize them in 3D based on sensor fusion technology. In order to demonstrate the practical feasibility and the maneuvering performance of the developed ASV, field tests were carried out and its results were briefly described.