강한 역류가 발생했을 때 추적 유도법칙과 비선형 유도법칙을 활용한 무인잠수정의 후진 경로 추종
Backward Path Following Using Pure Pursuit Guidance and Nonlinear Guidance for UUV under Strong Current
1
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
A UUV needs to have a robust path following performance because of unpredicted current disturbances. Because the desired path of a UUV is usually designed by considering the locations of obstacles or geographical features of the operation region, the UUV should stay on the desired path to avoid damage or loss of the vehicle. However, conventional path following methods cannot deal with strong countercurrent disturbances. Thus, the UUV may deviate from the desired path. In order to avoid such deviation, a backward path following method is suggested. This paper proposes a path following method that combines pure pursuit guidance and nonlinear guidance for the UUV under an unpredicted strong ocean current. For a stable path following system, this paper suggests that the UUV adjust its heading to the current direction using the pure pursuit guidance method when the system is in an unstable region, or the UUV follows the desired path with nonlinear guidance. By combining the pure pursuit guidance and nonlinear guidance, it was possible to overcome the drawbacks of each path following method in the reverse path following case. The efficiency of the proposed method is shown through simulation results compared to those of the pure pursuit method and nonlinear guidance method.
Abstract
A UUV needs to have a robust path following performance because of unpredicted current disturbances. Because the desired path of a UUV is usually designed by considering the locations of obstacles or geographical features of the operation region, the UUV should stay on the desired path to avoid damage or loss of the vehicle. However, conventional path following methods cannot deal with strong countercurrent disturbances. Thus, the UUV may deviate from the desired path. In order to avoid such deviation, a backward path following method is suggested. This paper proposes a path following method that combines pure pursuit guidance and nonlinear guidance for the UUV under an unpredicted strong ocean current. For a stable path following system, this paper suggests that the UUV adjust its heading to the current direction using the pure pursuit guidance method when the system is in an unstable region, or the UUV follows the desired path with nonlinear guidance. By combining the pure pursuit guidance and nonlinear guidance, it was possible to overcome the drawbacks of each path following method in the reverse path following case. The efficiency of the proposed method is shown through simulation results compared to those of the pure pursuit method and nonlinear guidance method.
참고문헌 (20)
- Alvarez, A, "Evolutionary Path Planning for Autonomous Underwater Vehicles in a Variable Ocean", Oceanic Engineering, IEEE Journal of Ocean Engineering, 29(2), pp.418~429 (2004)
- Bae, S, "Current Characteristic by 3D Model in South Sea, Korea", The Korean Society of Marine Environment & Safety Spring 2010 Conference, pp.103~108 (2010)
- 변광열, "강한 맞바람이 발생 했을 때 무인기의 후진경로추종에 관한 연구", 한국항공우주학회지, 42(5), pp.376~382 (2014), 한국항공우주학회
- Garau, B, "Path Planning of Autonomous Underwater Vehicles in Current Fields with Complex Spatial Variability: an A* Approach. In Robotics and Automation, 2005", ICRA 2005. Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.194~198 (2005)
- Garau, B, "Path Planning for Autonomous Underwater Vehicles in Realistic Oceanic Current Fields : Application to Gliders in the Western Mediterranean Sea", Journal of Maritime Research, 6(2), pp.5~22 (2009)
- 정태성, "조위 및 조류 예측 정확도의 개선 방법", 한국해양환경•에너지학회지, 13(4), pp.234~240 (2010), 한국해양환경·에너지학회
- Kim, K., "Optimal and Quasi-optimal Navigations of an AUV in Current Disturbances. In Intelligent Robots and Systems, 2008", IROS 2008. IEEE, 2008, 3661~3667
- Kim, K, "Optimal Guidance for Autonomous Underwater Vehicle Navigation within Undersea Areas of Current Disturbances", Advanced Robotics, 23(5), pp.601~628 (2009)
- 김영식, "RMAC를 적용한 어뢰형 무인잠수정(ISiMi)의 수평면 경로추종 제어", 한국해양공학회지, 23(6), pp.146~155 (2009), 한국해양공학회
- "Ocean Flow Information – Tidal Current" (2015)[URL]
- Lee, C, "A Study on Guidance Algorithm for Waypoint Navigation", The Korean Society for Aeroautical & Space Sciences 2005 Spring Conference, pp.113~116 (2005)
- 이희수, "대한해협에서의 선박의 속력 시운전시 조류 예측에 관한 연구", 한국해양공학회지, 24(6), pp.23~29 (2010), 한국해양공학회
- 이기영, "조류와 장애물을 고려한 자율무인잠수정의 전역경로계획", 한국해양공학회지, 26(4), pp.1~7 (2012), 한국해양공학회[DOI]
- Li, J, "Robust Path tracking for a Class of Torpedo-type Underactuated AUVs", Institute of Control, Robotics and Systems 2010 Conference, pp.45~47 (2010)
- 박성국, "가상의 목표점을 이용한 무인 잠수정의 충돌회피 귀환 경로계획", 한국해양공학회지, 23(5), pp.61~70 (2009), 한국해양공학회
- Park, S, "A New Nonlinear Guidance Logic for Trajectory Tracking", Proceedings of the AIAA Guidance, Navigation and Control Conference, pp.1~16 (2004)
- Prestero, T. T. J, "Verification of a Six-degree of Freedom Simulation Model for the REMUS Autonomous Underwater Vehicle", Master, pp.2001
- Yoon, H. K, "Estimation of External Forces and Current Variables in Sea Trial by Using the Estimation- Before-Modeling Method", Journal of the Society of Naval Architects of Korea, 38(4), pp.30~39 (2001)
- Yoon, S, "A Simulation Study for Performance Analysis of Path Tracking Method of Follow the Carrot and Pure Pursuit", The Korean Association of Ocean Science and Technology Societies 2012 Joint Conference, pp.1582~1585 (2012)
- Zhu, D, "A Bio-Inspired Neurodynamicsbased Backstepping Path-Following Control of an AUV with Ocean Current", International Journal of Robotics and Automation, 27(3), pp.298~ (2012)