DC Field | Value | Language |
---|---|---|
dc.contributor.author | 조용훈 | ko |
dc.contributor.author | 김종휘 | ko |
dc.contributor.author | 김진환 | ko |
dc.contributor.author | 조용진 | ko |
dc.contributor.author | 유재관 | ko |
dc.date.accessioned | 2020-01-17T09:20:05Z | - |
dc.date.available | 2020-01-17T09:20:05Z | - |
dc.date.created | 2020-01-15 | - |
dc.date.created | 2020-01-15 | - |
dc.date.issued | 2019-12 | - |
dc.identifier.citation | 한국해양공학회지, v.33, no.6, pp.620 - 626 | - |
dc.identifier.issn | 1225-0767 | - |
dc.identifier.uri | http://hdl.handle.net/10203/271432 | - |
dc.description.abstract | 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. | - |
dc.language | Korean | - |
dc.publisher | 한국해양공학회 | - |
dc.title | 운용자와 자율 무인선 상호 작용을 고려한 행위 기반의 제어 알고리즘 | - |
dc.title.alternative | Behavior-based Control Considering the Interaction Between a Human Operator and an Autonomous Surface Vehicle | - |
dc.type | Article | - |
dc.type.rims | ART | - |
dc.citation.volume | 33 | - |
dc.citation.issue | 6 | - |
dc.citation.beginningpage | 620 | - |
dc.citation.endingpage | 626 | - |
dc.citation.publicationname | 한국해양공학회지 | - |
dc.identifier.doi | 10.26748/KSOE.2019.093 | - |
dc.identifier.kciid | ART002536187 | - |
dc.contributor.localauthor | 김진환 | - |
dc.contributor.nonIdAuthor | 조용진 | - |
dc.contributor.nonIdAuthor | 유재관 | - |
dc.description.isOpenAccess | Y | - |
dc.subject.keywordAuthor | Behavior based control | - |
dc.subject.keywordAuthor | Unmanned surface vehicles | - |
dc.subject.keywordAuthor | Robot system architecture | - |
dc.subject.keywordAuthor | Artificial intelligence | - |
dc.subject.keywordAuthor | Human operator | - |
dc.subject.keywordAuthor | Behavior based control 행위기반제어 | - |
dc.subject.keywordAuthor | Unmanned surface vehicles 무인선 | - |
dc.subject.keywordAuthor | Robot system architecture | - |
dc.subject.keywordAuthor | 로봇 시스템 구조 | - |
dc.subject.keywordAuthor | Artificial intelligence 인공지능 | - |
dc.subject.keywordAuthor | Human operator 운용자 | - |
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