DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 김진환 | - |
dc.contributor.author | Kim, Uijong | - |
dc.contributor.author | 김의종 | - |
dc.date.accessioned | 2024-07-25T19:30:37Z | - |
dc.date.available | 2024-07-25T19:30:37Z | - |
dc.date.issued | 2023 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=1045596&flag=dissertation | en_US |
dc.identifier.uri | http://hdl.handle.net/10203/320496 | - |
dc.description | 학위논문(석사) - 한국과학기술원 : 기계공학과, 2023.8,[iv, 41 p. :] | - |
dc.description.abstract | Recently, there has been a growing expectation for autonomous systems to cope with complex situations as the autonomy of unmanned systems improves. Although research on unmanned surface vessels (USVs) is being conducted for maritime missions, the dynamic nature of the ocean environment and the complexity of the mission make it difficult to respond immediately with traditional optimization methods. This study proposes behavior-based control that operates robustly in complex mission environments by composing systems with combinations of simple behaviors. USV’s behavior is designed taking into account collision regulations and defined based on the defined objective function for each behavior. Through task composition, each behavior is defined as a logical unit element, and a scalable behavior-based control framework is designed by applying logical operations. The proposed algorithm’s performance and effectiveness were demonstrated through simulation in an environment composed of waypoint tracking, obstacle avoidance, and rescue behavior. | - |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.subject | 행위 기반 제어▼a자율 운항 선박▼a작업 구성 | - |
dc.subject | Behavior-based control▼aAutonomous ship▼aTask composition | - |
dc.title | Behavior-based control for marine vehicles using task composition | - |
dc.title.alternative | 작업 구성 기법을 활용한 해양 운동체의 행위 기반 제어 | - |
dc.type | Thesis(Master) | - |
dc.identifier.CNRN | 325007 | - |
dc.description.department | 한국과학기술원 :기계공학과, | - |
dc.contributor.alternativeauthor | Kim, Jinwhan | - |
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