운용자와 자율 무인선 상호 작용을 고려한 행위 기반의 제어 알고리즘 Behavior-based Control Considering the Interaction Between a Human Operator and an Autonomous Surface Vehicle

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With the development of robot technology, the expectation of autonomous mission operations has increased, and the research on robot control architectures and mission planners has continued. A scalable and robust control architecture is required for unmanned surface vehicles (USVs) to perform a variety of tasks, such as surveillance, reconnaissance, and search and rescue operations, in unstructured and time-varying maritime environments. In this paper, we propose a robot control architecture along with a new utility function that can be extended to various applications for USVs. Also, an additional structure is proposed to reflect the operator's command and improve the performance of the autonomous mission. The proposed architecture was developed using a robot operating system (ROS), and the performance and feasibility of the architecture were verified through simulations.
Publisher
한국해양공학회
Issue Date
2019-12
Language
Korean
Citation

한국해양공학회지, v.33, no.6, pp.620 - 626

ISSN
1225-0767
DOI
10.26748/KSOE.2019.093
URI
http://hdl.handle.net/10203/271432
Appears in Collection
ME-Journal Papers(저널논문)
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