무인선의 도킹을 위한 유도법칙 설계

• Published in: Han-guk haeyang gonghak hoeji (Online) Vol. 30; no. 3; pp. 208 - 213
• Main Authors: 우주현(Joohyun Woo), 김낙완(Nakwan Kim)
• Format: Journal Article
• Language: Korean
• Published: 한국해양공학회 2016
• Subjects: 해양공학; Docking 도킹; Auto berthing 자동 접안; Guidance law 유도 법칙; Unmanned Surface Vehicle 무인선박
• ISSN: 1225-0767; 2287-6715

This paper proposes a potential field-based guidance law for docking a USV (unmanned surface vehicle). In most cases, a USV without side thrusters is an under-actuated system. Thus, there are undockable regions near docking stations where a USV cannot dock to a docking station without causing a collision or backward motion. This paper suggest a guidance law that prevents a USV from enter such a region by decreasing the lateral error to the docking station at the initial stage of the docking process. A Monte-carlo simulation was performed to validate the performance of the proposed method. The proposed method was compared to conventional guidance laws such as pure pursuit guidance and pure/lead pursuit guidance. As a result, the collision angle and lateral distance error of proposed method tended to have lower values compared to conventional methods.