다중 2D-LiDAR 기반 로봇플랫폼 내부 반목 블록 위치 측정 및 캘리브레이션 알고리즘 개발

Abstract

Periodic maintenance is essential for maintaining the operational capabilities of modern naval vessels, with hull maintenance in drydock playing a critical role in ensuring safety and combat readiness. However, the current keel block placement process in naval drydocks relies on manual labor, resulting in low efficiency and a high risk of accidents. This study proposes an unmanned automated block placement system using a robot platform to address these issues. The system is equipped with a gripper and multiple 2D LiDAR sensors, enabling real-time precise measurement of block positions for automated placement. In particular, a RANSAC (Random Sample Consensus)- based calibration and block position measurement algorithm was developed to accurately measure the internal block positions using multiple LiDAR sensors in a fixed environment, solving the extrinsic calibration issues associated with multiple LiDAR sensors. The algorithm’s effectiveness was verified by comparing its performance with GICP (Generalized-Iterative Closest Point) in a simulation environment. This automated system aims to enhance worker safety and reduce task time by enabling precise block placement.