Obstacle Zone by Target 기반 선박 충돌회피 알고리즘 개발에 관한 연구

• Published in: 大韓造船學會 論文集 Vol. 61; no. 2; pp. 106 - 114
• Main Authors: 이찬욱(Chan-Wook Lee), 이성욱(Sung-Wook Lee)
• Format: Journal Article
• Language: Korean
• Published: 대한조선학회 2024
• Subjects: 조선공학; A-star algorithm(A< SUP> Autonomous ship(자율운항선박); Obstacle Zone by Target(OZT, 타선 장애물 영역); lt; Collision avoidance(충돌 회피); Fuzzy control(퍼지 제어); 알고리즘), Collision risk(충돌 위험; A
• ISSN: 1225-1143; 2287-7355
• DOI: 10.3744/SNAK.2024.61.2.106

In the 21st century, the rapid development of automation and artificial intelligence technologies is driving innovative changes in various industrial sectors. In the transportation industry, this is evident with the commercialization of autonomous vehicles. Moreover research into autonomous navigation technologies is actively underway in the aviation and maritime sectors. Consequently, for the practical implementation of autonomous ships, an effective collision avoidance algorithm has become a crucial element. Therefore, this study proposes a collision avoidance algorithm based on the Obstacle Zone by Target(OZT), which visually represents areas with a high likelihood of collisions with other ships or obstacles. The A-star algorithm was utilized to represent obstacles on a grid and assess collision risks. Subsequently, a collision avoidance algorithm was developed that performs fuzzy control based on calculated waypoints, allowing the vessel to return to its original course after avoiding the collision. Finally, the validity of the proposed algorithm was verified through collision avoidance simulations in various encounter scenarios.