Journal of Navigation and Port Research (한국항해항만학회지)

Korean Institute of Navigation and Port Research (한국항해항만학회)
권호 표지
DOI QR코드

DOI QR Code

An Evaluation Technique for the Path-following Control Performance of Autonomous Surface Ships

자율운항선박의 항로추정성능 평가기법 개발에 관한 연구

  • Daejeong Kim (Korea Maritime & Ocean University) ;
  • ChunKi Lee (Department of Navigation Convergence Studies, Korea Maritime & Ocean University) ;
  • Jeongbin Yim (Department of Maritime AI and Cyber Security, Korea Maritime & Ocean University)
  • 김대정 (한국해양대학교 해사산업연구소 ) ;
  • 이춘기 (한국해양대학교 항해융합학부) ;
  • 임정빈 (한국해양대학교 해사인공지능.보안학부)
  • Received : 2023.01.12
  • Accepted : 2023.01.28
  • Published : 2023.02.28
Download PDF
⟨ Previous Next ⟩

Abstract

A series of studies on the development of autonomous surface ships have been promoted in domestic and foreign countries. One of the main technologies for the development of autonomous ships is path-following control, which is closely related to securing the safety of ships at sea. In this regard, the path-following performance of an autonomous ship should be first evaluated at the design stage. The main aim of this study was to develop a visual and quantitative evaluation method for the path-following control performance of an autonomous ship at the design stage. This evaluation technique was developed using a computational fluid dynamics (CFD)-based path-following control model together with a line-of-sight (LOS) guidance algorithm. CFD software was utilized to visualize waves around the ship, performing path-following control for visual evaluation. In addition, a quantitative evaluation was carried out using the difference between the desired and estimated yaw angles, as well as the distance difference between the planned and estimated trajectories. The results demonstrated that the ship experienced large deviations from the planned path near the waypoints while changing its course. It was also found that the fluid phenomena around the ship could be easily identified by visualizing the flow generated by the ship. It is expected that the evaluation method proposed in this study will contribute to the visual and quantitative evaluation of the path-following performance of autonomous ships at the design stage.

최근 자율운항선박 개발을 위한 연구가 국내외에서 추진 중에 있다. 자율운항선박 개발에서 핵심기술 중 하나는 항로추종인데, 항로추종은 선박의 안전성 확보에 중요하기 때문에 자율운항선박 설계 시 사전평가 해야 한다. 본 연구의 목적은 자율운항선박 설계 시 항로추정성능의 시각적 및 정량적 평가기법을 개발하기 위한 것이다. 이 평가기법은 전산유체역학 기반의 자유 항주 모델과 LOS(Line-of-Sight) 알고리즘을 연계하여 개발하였다. 평가기법 중, 시각적 평가는 항로추종 중인 선박에 의해 생성되는 파계를 전산유체역학 소프트웨어를 이용하여 가시화하여 평가하고, 정량적 평가는 목표 선수방위각과 추정 선수방위각 사이의 차이 값과 계획항로와 추종항로 사이의 거리 차이 값을 이용하여 평가하였다. 항로추종성능 평가 결과, 항로추종 중 변침지점 부근에서 항로이탈편차가 크게 발생함을 알았고, 또한 선박 주위 유동의 시각화를 통해 선박 주위 유체 현상을 쉽게 파악할 수 있었다. 본 연구에서 제안한 평가기법은 자율운항선박 설계 시 항로추정성능 평가에 관한 시각적 및 정량적 평가에 기여할 것으로 기대된다.

Keywords

Acknowledgement

본 논문은 2023년도 해양수산부 및 해양수산과학기술진흥원 연구비 지원으로 수행된 '자율운항선박 기술개발사업(20200615, 자율운항선박 육상제어 기술개발)'의 연구결과입니다.

References

  1. Borhaug, E. and Pettersen, K. Y.(2005), "Cross-track control for underactuated autonomous vehicles.", Proceedings of the 44th IEEE Conference on Decision and Control, pp. 211-216. 
  2. Fossen, T. I.(2011), Handbook of Marine Craft Hydrodynamics and Motion Control, John Wiley &Sons, Ltd, pp. 257-266. 
  3. Fossen, T. I., Breivik, M. and Skjetne, R.(2003), "Line-of-sight path following of underactuated marine craft.", IFAC proceedings, Vol. 36, No. 21, pp. 211-216.  https://doi.org/10.1016/S1474-6670(17)37809-6
  4. Hasanvand, A., Hajivand, A. and Ali, N. A.(2021), "Investigating the effect of rudder profile on 6DOF ship course-changing performance.", Applied Ocean Research, Vol. 117, pp. 102944. 
  5. Kim, D., Song, S. and Tezdogan, T.(2021a), "Free running CFD simulations to investigate ship manoeuvrability in waves.", Ocean Engineering, Vol. 236, p. 109567. 
  6. Kim, D. and Tezdogan, T.(2022), "CFD-based hydrodynamic analyses of ship course keeping control and turning performance in irregular waves.", Ocean Engineering, Vol. 248, p. 110808. 
  7. Kim, D., Tezdogan, T. and Incecik, A.(2022b)., "Ahigh-fidelity CFD-based model for the prediction of ship manoeuvrability in currents." Ocean Engineering, Vol. 256, p. 111492. 
  8. Kim, D., Tezdogan, T. and Incecik, A.(2022c)., "Hydrodynamic analysis of ship manoeuvrability in shallow water using high-fidelity URANS computations." Applied Ocean Research, Vol. 123, p. 103176. 
  9. Lekkas, A. M. and Fossen, T. I.(2012), "A time-varying lookahead distance guidance law for path following.", IFAC proceedings, Vol. 45, No. 27, pp. 398-403.  https://doi.org/10.3182/20120919-3-IT-2046.00068
  10. Menter, F. R., Kuntz, M. and Langtry, R.(2003), "Ten years of industrial experience with the SSTturbulence model.", Turbulence, heat and mass transfer, Vol. 4(1), pp. 625-632. 
  11. Sandeepkumar, R., Rajendran, S., Mohan, R. and Pascoal, A.(2022), "A unified ship manoeuvring model with a nonlinear model predictive controller for path following in regular waves.", Ocean Engineering, Vol. 243, p. 110165. 
  12. Wang, J. and Wan, D.(2018), "CFD investigations of ship maneuvering in waves using naoe-FOAM-SJTU Solver.", Journal of Marine Science and Application, Vol. 17, No. 3, pp. 443-458.  https://doi.org/10.1007/s11804-018-0042-4
  13. Yasukawa, H. and Yoshimura, Y.(2015), "Introduction of MMG standard method for ship maneuvering predictions.", Journal of Marine Science and Technology, Vol. 20, No. 1, pp. 37-52. https://doi.org/10.1007/s00773-014-0293-y