Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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An Route Planning for the Navigation System of Autonomous vessel

무인선박의 항해시스템을 위한 항로계획 기법

  • 조재희 (경상대학교 컴퓨터과학과 및 기초과학연구소) ;
  • 지민수 (경상대학교 컴퓨터과학과 및 기초과학연구소) ;
  • 김용기 (경상대학교 컴퓨터과학과 및 기초과학연구소)
  • Published : 2005.08.01
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Abstract

For the safety and cost reduction of the navigation in the sea, we need automatic and intelligent system for the ship. For the ship automation, we need a route planning based on GPS and the nautical chart. In this paper, we propose a route planning technique using point of contact of the obstacle and treecreation technique. The efficiency of the proposed technique is proved by comparing with A* search technique that is the most famous search technique for route planning from the optimal point of view.

선박의 안전 운항과 운항 경비의 절감을 위해 선박의 운항 자동화 및 지능화 기술이 요구된다. 선박의 자동화를 위해서는 GPS와 전자해도에 기반한 항해시스템의 항로 계획이 선행되어야 한다. 본 논문에서는 항해시스템의 자동화된 항로 계획을 위해 장애물의 접점 산출 기법과 이를 이용한 트리 생성 기법, 그리고 생성된 트리 구조를 기반으로 한 항로 산출 기법을 제안한다. 제안한 항로 산출 기법의 효율성 검증을 위해 최적화 관점에서 대표적 항로 계획 기법인 A*기법과 비교$\cdot$분석한다.

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