고장감지를 활용한 군집 무인수상정의 제어에 관한 연구

Abstract

In this study, in order to overcome the limitations of a single unmanned surface vehicle(USV), a study was conducted on the swarm control algorithm of the USV. Among the various swarm control methods, a leader-follower swarm control was selected and studied, and the performance of the swarm USV control algorithm proposed in this study was verified through an actual sea area test. In addition, a fault detection algorithm was developed to solve the disadvantage of the leader-follower swarm USV control method, and the performance of the algorithm was verified through an actual sea area test. A USV for this study was designed and manufactured by dividing the power part and control part. The power system is equipped with a coulometer to monitor the state of the battery in real-time, to protect the system through a switch linked to the coulometer when an abnormality occurs in the battery, and to prevent accidents. In addition, a communication system was established to process the sensor data and camera image data of the USV in real-time. A waypoint algorithm and a cross-track error compensation algorithm were developed and applied to the leader-follower USV for basic navigation. It is possible to achieve the desired swarm formation through the separately constructed swarm control algorithm. In order to overcome the disadvantage of the leader-follower swarm USV, The fault detection algorithm was studied and applied. When the fault of the leader USV is recognized by the operator and the follower USV, the leading mission is taken over by the follower USV. In order to verify the reliability of the sensor data installed on each USV before the actual sea area test, individual performance tests of each sensor were conducted. Finally, the performance of the swarm USV control algorithm and fault detection algorithm was confirmed by conducting the actual sea area test, and the good performance of the controllers was confirmed, and the successful swarm USV formation was confirmed through the actual sea area test.