무인선의 도킹을 위한 유도법칙 설계
Design of Guidance Law for Docking of Unmanned Surface Vehicle
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참고문헌
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초록
This paper proposes a potential field-based guidance law for docking a USV (unmanned surface vehicle). In most cases, a USV without side thrusters is an under-actuated system. Thus, there are undockable regions near docking stations where a USV cannot dock to a docking station without causing a collision or backward motion. This paper suggest a guidance law that prevents a USV from enter such a region by decreasing the lateral error to the docking station at the initial stage of the docking process. A Monte-carlo simulation was performed to validate the performance of the proposed method. The proposed method was compared to conventional guidance laws such as pure pursuit guidance and pure/lead pursuit guidance. As a result, the collision angle and lateral distance error of proposed method tended to have lower values compared to conventional methods.
Abstract
This paper proposes a potential field-based guidance law for docking a USV (unmanned surface vehicle). In most cases, a USV without side thrusters is an under-actuated system. Thus, there are undockable regions near docking stations where a USV cannot dock to a docking station without causing a collision or backward motion. This paper suggest a guidance law that prevents a USV from enter such a region by decreasing the lateral error to the docking station at the initial stage of the docking process. A Monte-carlo simulation was performed to validate the performance of the proposed method. The proposed method was compared to conventional guidance laws such as pure pursuit guidance and pure/lead pursuit guidance. As a result, the collision angle and lateral distance error of proposed method tended to have lower values compared to conventional methods.
참고문헌 (8)
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- Breivik, M, "A Virtual Target-based Underway Docking Procedure for Unmanned Surface Vehicles", Proceedings of the 18th IFAC World Congress, pp.13630~13635 (2011)
- Breivik, M, "Guided Dynamic Positioning for Fully Actuated Marine Surface Vessels", Proceedings of the 6th IFAC MCMC (2006)
- Dunbabin, M, "Towards Coordinated Vision-based Docking Using an Autonomous Surface Vehicle", Proceedings of the Australasian Conference on Robotics and Automation, pp.1~8 (2007)
- Dunbabin, M, "Vision-based Docking Using an Autonomous Surface Vehicle", Robotics and Automation (ICRA), pp.26~32 (2008)
- Feezor, M.D, "Autonomous Underwater Vehicle Homing", Docking via Electromagnetic Guidance, 2001, pp.26(4), 515~521
- Jantapremjit, P, "Guidance-control Based Path Following for Homing and Docking Using an Autonomous Underwater Vehicle", OCEANS 2008, pp.1~6 (2008)
- Martins, A, "Autonomous Surface Vehicle Docking Manoeuvre with Visual Information", Robotics and Automation, pp.4994~4999 (2007)