Method and apparatus for controlling autonomous driving interlock of unmanned surface vehicle and unmanned underwater vehicle

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Method and apparatus for controlling autonomous driving interlock of unmanned surface vehicle and unmanned underwater vehicle

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RYU JAE KWAN / LEE WON HEE / KU PYUNG MO / LEE SOON GEUL / CHOI JAE HWAN / WOO SOO HO / KIM BONG HAN / HOANG QUOC DONG

A method and apparatus for controlling interlocked autonomous driving of an unmanned surface vehicle (USV) and an unmanned underwater vehicle (UUV) according to a preferred embodiment of the present invention create a dynamic model for the USV and UUV, which considers external disturbances such as actual currents, waves, wind, and the like, and provide an interlocked autonomous driving of the USV and UUV, which considers the tension of cables and a disturbance function based on random noise is applied, thereby ensuring the operational stability of the USV and enhancing performance in tasks such as unmanned marine exploration, unmanned reconnaissance, and the like.

본 발명의 바람직한 실시예에 따른 무인 수상정과 무인 수중정의 자율 주행 연동 제어 방법 및 장치는, 실제 조류, 파도, 바람 등의 외란을 고려한 무인 수상정(unmanned surface vehicle, USV)과 무인 수중정(unmanned underwater vehicle, UUV)의 동역학 모델링을 제작하고, 케이블의 장력을 고려하고 랜덤 노이즈(random noise) 기반 외란 함수를 적용한 무인 수상정(USV)과 무인 수중정(UUV)의 자율 주행 연동 모델을 제공함으로써, 무인 수상정(USV)의 운용 안정성 확보 및 무인 해양 조사, 무인 정찰 등의 작업 성능을 높일 수 있다.

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Titel :

Method and apparatus for controlling autonomous driving interlock of unmanned surface vehicle and unmanned underwater vehicle

Weitere Titelangaben:

무인 수상정과 무인 수중정의 자율 주행 연동 제어 방법 및 장치

Beteiligte:

RYU JAE KWAN (Autor:in) / LEE WON HEE (Autor:in) / KU PYUNG MO (Autor:in) / LEE SOON GEUL (Autor:in) / CHOI JAE HWAN (Autor:in) / WOO SOO HO (Autor:in) / KIM BONG HAN (Autor:in) / HOANG QUOC DONG (Autor:in)

Erscheinungsdatum :

2023-03-07

Medientyp :

Patent

Format :

Elektronische Ressource

Sprache :

Koreanisch

Klassifikation :

IPC:

G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen

Method and apparatus for controlling autonomous driving interlock of unmanned surface vehicle and unmanned underwater vehicle

Method and apparatus for controlling autonomous driving interlock of unmanned surface vehicle and unmanned underwater vehicle

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