Journal of Advanced Navigation Technology (한국항행학회논문지)

The Korean Navigation Institute (한국항행학회)
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Development of Probability-Based Assessment Index for Docking Process Assessment

무인잠수정의 도킹 과정 평가를 위한 확률 기반 평가지표 개발

  • Chon, Seung-jae (Department of Control and Instrumentation Engineering, Graduate School, Korea Maritime and Ocean University (KMOU)) ;
  • Kim, Joon-young (Department of Ocean Advanced Materials Convergence Engineering, KMOU) ;
  • Choi, Joong-lak (Research Institute of Industrial Technology, KMOU) ;
  • Jeong, Seong-hoon (Research Institute of Industrial Technology, KMOU) ;
  • Kim, Jong-hwa (Division of Control and Automation Engineering, KMOU)
  • 천승재 (한국해양대학교 대학원 제어계측공학과) ;
  • 김준영 (한국해양대학교 해양신소재융합공학과) ;
  • 최중락 (한국해양대학교 산업기술연구소) ;
  • 정성훈 (한국해양대학교 산업기술연구소) ;
  • 김종화 (한국해양대학교 제어자동화공학부)
  • Received : 2021.04.15
  • Accepted : 2021.06.28
  • Published : 2021.06.30
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Abstract

This paper proposes an assessment method using probability-based index for safe and successful underwater docking of autonomous underwater vehicles(AUVs) to the docking stations(DSs). The proposed method assesses the probability of docking according to the degree to which the state of the AUV is consistent with the state criteria for docking. The assessment is performed within a specific area considering the kinematic constraints and docking plans of the AUV. The assessment process is defining probability density function, calculating probabilities for reaching the docking station according to the difference to position and heading criteria, and computing the probability-based index in real-time. We verify the validity of the proposed method through analyzing the data acquired on operation test.

본 논문은 무인잠수정을 도킹스테이션에 성공적으로 안전하게 도킹시키기 위해 확률 기반 평가지표를 설계하여 수중 도킹 과정을 평가하는 방법을 제안한다. 제안하는 방법은 무인잠수정 상태와 수중 도킹을 위한 상태 기준의 일치 정도에 따른 도킹 성공 가능성을 확률로써 평가하는 방법이다. 평가는 무인잠수정의 기구학적 구속조건과 도킹 계획을 고려해 정의된 영역 내부에서 수행한다. 평가 과정은 확률밀도함수의 정의, 위치와 방향각 기준과의 차이에 따른 도킹스테이션 도달확률 계산, 확률지표의 산출 순서이며, 이를 통해 실시간으로 수중 도킹 과정을 평가한다. 수조실험을 통해 획득한 무인잠수정 데이터를 분석하여 제안하는 평가지표의 유효성을 검토하였다.

Keywords

Acknowledgement

이 연구는 산업통상자원부와 방위사업청의 재원으로 민군협력진흥원 및 국방과학기술원의 지원을 받아 수행된 연구임(민군겸용기술개발사업 다중센서를 이용한 무인잠수정의 도킹기술 개발, 17-CM-RB-16).

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