• Journal of the Society of Naval Architects of Korea
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• v.61 no.5
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• pp.324-333
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• 2024

This paper focuses on the cooperation between Unmanned Aerial Vehicle (UAV) and Unmanned Surface Vessel (USV). It aims to develop efficient guidance and control algorithms for USV based on obstacle identification and path planning from aerial images captured by UAV. Various obstacle scenarios were implemented using the Robot Operating System (ROS) and the Gazebo simulation environment. The aerial images transmitted in real-time from UAV to USV are processed using the computer vision-based deep learning model, You Only Look Once (YOLO), to classify and recognize elements such as the water surface, obstacles, and ships. The recognized data is used to create a two-dimensional grid map. Algorithms such as A^* and Rapidly-exploring Random Tree star (RRT^*) were used for path planning. This process enhances the guidance and control strategies within the UAV-USV collaborative system, especially improving the navigational capabilities of the USV in complex and dynamic environments. This research offers significant insights into obstacle avoidance and path planning in maritime environments and proposes new directions for the integrated operation of UAV and USV.

• Journal of the Korean Society of Systems Engineering
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• v.16 no.1
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• pp.25-35
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• 2020

The South Korean Navy is making efforts to acquire vessels that the new technology of the 4th industry is applied, and as a part of these efforts, it has a plan to mount and operate an Unmanned Surface Vehicle(USV) on a vessel that will be introduced later. However, the recent studies have focused on only development of common platforms and mission equipment for the USV, and have not sufficiently analyzed studies and operatinoal requirements on mother ship that will operate the mounted USV. Hence, this study analyzed and presented requirements of mother ship with the mounted USV in order to operate effectively it when the future medium and large vessels to be acquired by the South Korean Navy intent to operate the USV.

• Journal of Electrical Engineering and Technology
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• v.12 no.6
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• pp.2365-2377
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• 2017

This paper addresses two interrelated problems concerning the tracking control of pod propulsion unmanned surface vessel (USV), namely, the modeling of pod propulsion USV, and tracking controller design. First, based on MMG modeling theory, the model of pod propulsion USV is derived. Furthermore, a practical adaptive neural tracking controller is proposed by backstepping technique, neural network approximation and adaptive method. Meanwhile, unlike some existing tracking methods for surface vessel whose control algorithms suffer from "explosion of complexity", a novel neural shunting model is introduced to solve the problem. Using a Lyapunov functional, it is proven that all error signals in the system are uniformly ultimately bounded. The advantages of the paper are that first, the underactuated characteristic of pod propulsion USV is proved; second, the neural shunting model is used to solve the problem of "explosion of complexity", and this is a combination of knowledge in the field of biology and engineering; third, the developed controller is able to capture the uncertainties without the exact information of hydrodynamic damping structure and the sea disturbances. Numerical examples have been given to illustrate the performance and effectiveness of the proposed scheme.

• International Journal of Naval Architecture and Ocean Engineering
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• v.7 no.5
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• pp.817-832
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• 2015

This paper presents a state feedback based backstepping control algorithm to address the trajectory tracking problem of an underactuated Unmanned Surface Vessel (USV) in the horizontal plane. A nonlinear three Degree of Freedom (DOF) underactuated dynamic model for USV is considered, and trajectory tracking controller that can track both curve trajectory and straight line trajectory with high accuracy is designed as the well known Persistent Exciting (PE) conditions of yaw velocity is completely relaxed in our study. The proposed controller has further been enriched by incorporating an integral action additionally for enhancing the steady state performance and control precision of the USV trajectory tracking control system. Global stability of the overall system is proved by Lyapunov theory and Barbalat's Lemma, and then simulation experiments are carried out to demonstrate the effectiveness of the controller designed.

• Journal of the Institute of Convergence Signal Processing
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• v.24 no.4
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• pp.241-248
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• 2023

Despite the recent short history of drones, the applying field of drones has been used for various purposes in a wide variety of areas and fields. As such, with the emergence of various types of drones over the years, in a broad sense, a remote controlled mobile object that can be controlled by wired and wireless control may be a suitable definition for drone because of various types of drones in recent years. This paper aims to help readers who want to research, develop, and use drones by examining the history, application fields, and future prospects of drones, including Unmanned Surface Vehicle(USV) and Unmanned Underwater Vehicles(UUV), as well as aerial type drones. Through this paper, it is expected that these drones will continue to be used in various fields in the future, and the prospect of future development will continue constantly. However, for the development of domestic drone technology and industry, the government's improvement in drone-related regulations should be supported.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.36 no.6
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• pp.629-639
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• 2018

In this study, the application of the single beam echosounder and multi beam echosounder was analyzed for the Youngsan river, from the Juksanbo to the Juksan bridge, length of 840m, width 230m and area $0.16km^2$. A single beam echosounder and a multi beam echosounder are mounted on an USV (Unmanned Surface Vessel), and each data is acquired. Then, TIN (Triangular Irregular Network) is created and the grid depth of 10m intervals is extracted. The grid depth of the single beam echo sounder and the grid depth of the multi beam echo sounder were overlapped to compare the two data. As a result of analysis using 5,024 data, the mean depth difference was 0.0319m and the standard deviation was 2.4095m. The river bed shape was similar to each other. If the multi-beam echo sounder is regarded as the standard, the volume difference of the stream is $161,882m^3$. With a multi-beam echo sounder installed, the operating distance increased by approximately 55% to 4595.85m, and the operating time increased by approximately 59% to approximately 47%.