실환경에서의 USV-UAV간 이종협응제어 연구
Study of USV-UAV heterogeneous coordination control in real-world environments
- 주제(키워드) 협응제어 , 무인수상선 , 무인항공기
- 발행기관 국립부경대학교 대학원
- 지도교수 박종용
- 발행년도 2025
- 학위수여년월 2025. 2
- 학위명 석사
- 학과 및 전공 대학원 마린융합디자인공학과
- 세부전공 조선해양시스템공학전공
- 세부분야 해당없음
- 원문페이지 viii, 47
- 실제URI http://www.dcollection.net/handler/pknu/200000868202
- UCI I804:21031-200000868202
- DOI 10.23171/pknu.200000868202.21031.0074644
- 본문언어 한국어
- 저작권 국립부경대학교 논문은 저작권에 의해 보호받습니다.
초록/요약
This paper presents a study on the development of a cooperative control systembetween Unmanned Aerial Vehicle(UAV) and Unmanned Surface Vehicle (USV) in a real-world environment. The proposed system receives real-time aerial imagery from UAV, identifies obstacles and water tanks, and generates paths for USV to follow. The system was implemented using the Robot Operating System(ROS), and Domain Bridge was utilized to address potential data latency issues when operating across heterogeneous platforms, allowing the transmission of only essential data between platforms to minimize latency. Real-time aerial imagery was processed using the YOLO(You Only Look Once) deep learning model to detect obstacles, basin, and ships with high accuracy and efficiency. The detected data was used to generate optimal paths through the A* global path planning algorithm. To ensure accurate path tracking, a guidance algorithm based on LOS with CA was developed, and the generated paths were followed using a PD control method to maintain stability and precision. Before conducting real-world tests, the system's stability was verified in a rendering-based simulation environment(Gazebo). Subsequently, field experiments were conducted under the same conditions to validate the system's performance. A comparison with the DWA (Dynamic Window Approach) local path planning algorithm was also performed, demonstrating that the proposed system showed higher efficiency in energy consumption, total distance traveled, and mission completion time. This study provides insightful contributions to various maritime scenarios and proposes a new direction for the integrated operation of UAV and USV in maritime environments.
more목차
1 서론 1
1.1 연구배경 1
1.2 기존 연구 사례 2
1.3 연구 목표 3
2 협응 제어 시스템 구성 5
2.1 사용 플랫폼 및 실험환경 5
2.2 하드웨어 시스템 6
2.3 소프트웨어 시스템 7
2.3.1 로봇운영체제(ROS2) 7
2.3.2 알고리즘 구성 9
2.3.3 항공영상 실시간 수신 10
2.3.4 통신 구조 11
3 협응 제어 알고리즘· 13
3.1 좌표계 13
3.2 실시간 객체 검출 13
3.3 경로생성 알고리즘 18
3.4 USV의 항법데이터 20
3.5 유도, 제어 알고리즘 21
3.5.1 유도 알고리즘 21
3.5.2 제어 알고리즘 24
4 협응 제어 시험 26
4.1 좌표 변환 26
4.2 시뮬레이션 검증 27
4.3 실환경에서의 협응 제어 시험 30
4.4 지역경로 생성 알고리즘과의 비교 33
4.5 항공영상을 이용한 선박의 상태 추정 40
5 결론 42
참고문헌 44