곡선좌표계 변환에 기반한 협수로에서 선박 자율 충돌회피

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This study addresses autonomous ship collision avoidance in narrow channels using curvilinear coordinates. Navigation in narrow channels or fairways is known to be much more difficult and challenging compared with navigation in the open sea. It is not straightforward to apply the existing collision avoidance framework designed for use in the open sea to collision avoidance in narrow channels due to the complexity of the problem. In this study, to generalize the autonomous navigation procedure for collision avoidance in narrow channels, we introduce a curvilinear coordinate system for collision-free path planning using a parametric curve, B-spline. To demonstrate the feasibility of the proposed algorithm, ship traffic simulations were performed and the results are presented.
Publisher
대한조선학회
Issue Date
2021-06
Language
Korean
Citation

대한조선학회 논문집, v.58, no.3, pp.191 - 197

ISSN
1225-1143
DOI
10.3744/SNAK.2021.58.3.191
URI
http://hdl.handle.net/10203/289517
Appears in Collection
ME-Journal Papers(저널논문)
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