Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Use of Fuzzy technique for Calculating Degree of Collision Risk in Obstacle Avoidance of Unmanned Underwater Vehicles

퍼지기법을 이용한 무인잠수정의 장애물회피를 위한 충돌위험도 산출

  • Jung, Hee (Department of Computer Science, Gyeongsang National University) ;
  • Kim, Seong-Gon (LG Electronics) ;
  • Kim, Yong-Gi (Department of Computer Science, Gyeongsang National University)
  • 정희 (경상대학교 컴퓨터과학과 및 컴퓨터정보통신연구소) ;
  • 김성곤 (LG전자 연구소) ;
  • 김용기 (경상대학교 컴퓨터과학과 및 컴퓨터정보통신연구소)
  • Received : 2010.05.28
  • Accepted : 2011.02.03
  • Published : 2011.02.25
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Abstract

This paper introduces a technique for calculating the degree of collision risk used in collision avoidance system of AUVs. The collision risk will be reckoned with the fuzzy inference, which uses TCPA(Time of the Closest Point of Approach) and DCPA(Distance of the Closest Point of Approach) as factors. A method to obtain TCPA and DCPA for 3-dimension is suggested. The degree of collision risk is provided to collision avoidance system, and is verified the effectiveness through simulation.

본 연구는 주변 환경정보와 장애물정보, 위치정보를 이용하여 무인잠수정의 운항 환경에 존재하는 다양한 장애물들에 대한 충돌위험도를 산출하는 시스템을 제안한다. 충돌위험도는 퍼지추론을 사용하여 산출하며, TCPA, DCPA, 거리를 인자로 사용하게 된다. 또한 삼차원환경에서 TCPA와 DCPA를 획득하는 방법을 제안한다. 충돌위험도는 충돌회피시스템에 제공되며, 시뮬레이션을 통하여 그 경제성과 안전성에서의 효율성을 보인다.

Keywords

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