Unity-ROS 시뮬레이터 기반의 자율운항 시스템 개발 및 검증

• Published in: 大韓造船學會 論文集 Vol. 60; no. 6; pp. 406 - 415
• Main Authors: 김기원(Kiwon Kim), 방현태(Hyuntae Bang), 서정화(Jeonghwa Seo), 윤원근(Wonkeun Youn)
• Format: Journal Article
• Language: Korean
• Published: 대한조선학회 2023
• Subjects: 조선공학; Collision avoidance(충돌회피); Simulator(시뮬레이터); Ship dynamics(선박 동역학); Robot Operating System(로봇 OS); OS
• ISSN: 1225-1143; 2287-7355
• DOI: 10.3744/SNAK.2023.60.6.406

In this study, we focused on developing and verifying ship collision avoidance algorithms using Unity simulator and ROS(Robot Operating System). ROS is used to establish an environment where communication between different operating systems is possible, and a dynamic model of a ship is constructed within Unity simulator. The Lidar data collected in Unity environment is passed to the system based on python through ROS. In the system based on python, control command values were created through the logic of the collision avoidance algorithm using data, and the values were transferred back to Unity to control the movement of the virtual ship. Through the developed simulation system, the reliability of the collision avoidance algorithm of ships with two different forms in an environment similar to the actual physical world was confirmed. As a result, it was confirmed on the simulator that it could be avoided without collision even in an environment with various types of obstacles, and that the avoidance characteristics according to the dynamics of the ship could be analyzed.