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유태석,차애리,박호규,김문환,Yoo, Tae Suk,Cha, Ae Ri,Park, Ho Gyu,Kim, Moon Hwan 한국정보통신학회 2022 한국정보통신학회논문지 Vol.26 No.12
In this paper, we design a navigation filter for an underwater glider. Underwater gliders are low-cost, reusable, and can be used for a long time. Two types of filters are designed considering characteristics such as small size, low cost, and low power. The navigation filter estimates the reference velocity of the underwater glider's body frame based on the minimum sensor output. The sensor configuration of the first filter consists of an accelerometer, a magnetometer, and a depth sensor. the second filter include extra a gyroscope in the same configuration. The estimated velocity is fused with the attitude, converted into the velocity of the navigation frame and finally the position is estimated. To analyze the performance of the proposed filter, analysis was performed using Monte Carlo numerical analysis method, and the results were analyzed with standard deviation (1σ). Standard deviations of each filter's position error are 334.34m, 125.91m.
권대현,김주완,김문환,박호규,김태영,김아영,Gwon, Dae-Hyeon,Kim, Joowan,Kim, Moon Hwan,Park, Ho Gyu,Kim, Tae Yeong,Kim, Ayoung 한국로봇학회 2017 로봇학회 논문지 Vol.12 No.4
Side scanning sonar (SSS) provides valuable information for robot navigation. However using the side scanning sonar images in the navigation was not fully studied. In this paper, we use range data, and side scanning sonar images from UnderWater Simulator (UWSim) and propose measurement models in a feature based simultaneous localization and mapping (SLAM) framework. The range data is obtained by echosounder and sidescanning sonar images from side scan sonar module for UWSim. For the feature, we used the A-KAZE feature for the SSS image matching and adjusting the relative robot pose by SSS bundle adjustment (BA) with Ceres solver. We use BA for the loop closure constraint of pose-graph SLAM. We used the Incremental Smoothing and Mapping (iSAM) to optimize the graph. The optimized trajectory was compared against the dead reckoning (DR).
측면주사소나 특성에 따른 자율무인잠수정 기뢰탐색 효과도 분석
유태석,박석준,윤선일,박호규,Yoo, Tae-Suk,Park, Seok-Joon,Yoon, Seon-Il,Park, Ho-Gyu 한국정보통신학회 2020 한국정보통신학회논문지 Vol.24 No.8
부설된 기뢰를 소해하기 위해 기뢰매설 예상구역에 대한 탐색을 수행한다. 이 때 기뢰탐색은 기뢰의 위험성, 아군의 안정성 등을 고려하여 자율무인잠수정을 이용한다. 매설된 기뢰를 식별하기 위한 소나시스템은 측면주사소나, 합성개구소나 등을 탑재한다. 본 논문은 측면주사소나 특성에 따른 기뢰탐색효과도 분석에 대해 기술한다. 각 측면주사소나의 특성을 바탕으로 음향조사역 및 인식확률을 모델링 하였고, AUV의 주행패턴에 따라 분석을 수행하였다. AUV의 주행패턴은 측면주사소나 음영구역의 유무에 따라 3가지 탐색패턴을 정의하였다. 분석결과는 각 탐색패턴 마다 탐지시간, 탐지확률을 도출하고 최종적으로 측면주사소나 음영구역의 유무에 따른 탐색 향상도를 도출하였다. In order to Mine Countermeasure (MCM), the search is carried out for the expected mine zone. At this time, mine hunting uses Autonomous Unmanned Vehicle(AUV), taking into account the danger of mine and the stability of our forces. Sonar system for identifying buried mines are equipped with Side Scan Sonar(SSS) or Synthetic Aperture Sonar(SAS). This paper describes the analysis of mine hunting effects according to the commercial SSS characteristics. Based on the characteristics of each SSS, the insonified area and recognition probability were modeled, and the analysis was performed according to the search pattern of the AUV. AUV's search pattern defines three patterns depending on the presence or absence of SSS or shaded areas. The analysis results derived search time and detection probability for each search pattern, and finally, the improvement of search depending on the presence or absence of side injection or shaded area.
불확실 유체 역학 계수를 가진 대형급 무인잠수정의 강인 경로점 추적
김도완(Do Wan Kim),박정훈(Jeong-Hoon Park),박호규(Ho-Gyu Park),김태영(Tae-Yeong Kim) 대한전기학회 2017 전기학회논문지 Vol.66 No.2
This paper addresses on an linear matrix inequality (LMI) formulation of the robust waypoint tracking problem of large diameter unmanned underwater vehicles (LDUUVs) in the horizontal plane. The interested design issue can be reformed as the robust asymptotic stabilization of the provided error dynamics with respect to the desired yaw angle, surge speed and attitude. Sufficient conditions for its robust asymptotic stabilizability against the hydrodynamic uncertainties are derived in the format of LMI. An example is provided to testify the validity of the proposed theoretical claims.
대형급 무인잠수정의 임무의 중요성에 따른 목표 경로점 선정 및 제어를 위한 T-S 퍼지모델 기반 강인 H<SUB>∞</SUB> 제어기 설계
강형빈(Hyoung Bin Kang),이호재(Ho Jae Lee),김성훈(Sung Hoon Kim),박호규(Ho Gyu Park) 대한전기학회 2017 전기학회논문지 Vol.66 No.2
This paper deals with a robust controller design problem for waypoints tracking of large displacement unmanned underwater vehicles (LDUUVs) in Takagi–Sugeno fuzzy form. The LDUUV model uses a rudder to control its horizontal motion. We determine the order of waypoints based on their priorities and consider only surge force. A fuzzy controller in state-feedback form is taken and its design condition of is represented in terms of linear matrix inequalities. A numerical simulation is included to show the effectiveness of the theoretical development.
대형급 무인 잠수정의 T-S 퍼지 모델기반 H_/H<SUB>∞</SUB> 고장검출
문지현(Ji Hyun Moon),이호재 (Ho Jae Lee),김문환(Moon Hwan Kim),박호규(Ho Gyu Park),김태영(Tae Yeong Kim) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.3
This paper addresses an observer design technique for H_/H∞fault detection of larger displacement unmanned underwater vehicles (UUV). A Takagi Sugeno (T-S) fuzzy model is introduced by using sector nonlinearity to cope with the nonlinearity of the UUV. Design condition is presented in the linear matrix inequality format. An example is provided to demonstrate the effectiveness of the proposed method.
무인잠수정의 실제 동역학적 제한을 고려한 A* 알고리즘 기반 현실적 경로계획
이재준(Jaejun Lee),문지현(Ji Hyun Moon),이호재(Ho Jae Lee),김문환(Moon Hwan Kim),박호규(Ho Gyu Park),김태영 한국지능시스템학회 2017 한국지능시스템학회논문지 Vol.27 No.2
본 논문은 무인잠수정의 동특성을 고려하지 않아 실제로 항행이 불가능한 급격히 변화하는 경로를 계획하기도 하는 기존 A* 알고리즘 기반 경로계획의 단점을 개선하기 위하여, 무인잠수정의 동특성을 고려한 항행궤적에 기반한 개선된 경로계획 알고리즘을 제안한다. 기존의 A* 기반 알고리즘은 무인잠수정이 인접노드로 이동하는 경로를 직선으로 가정하여 이동비용을 계산하는 반면, 개선된 경로계획 알고리즘은 경로점 제어에 의하여 생성된 현실적 항행궤적을 노드 간의 이동경로로 설정하고 이동비용을 계산하여 최적의 경로를 계획한다. 모의실험에서 제안한 기법과 기존의 기법의 경로계획을 비교하여 본 논문의 논의가 타당함을 보인다. This paper proposes an improved path-planning technique based no the A* algorithm. The conventional A* algorithm only considers the optimality of the planned path and sometimes produces a path that an unmanned underwater vehicle (UUV) cannot navigate due to its dynamic constraint such as the limit of the radius of gyration. It is because that the previous method evaluate the moving cost based on the straight distance between nodes. We enhance the conventional method by evaluating the moving cost on the basis of the practically navigable trajectory, which is gendered by the waypoint-tracking control of the UUV dynamics. Them simulation examples indeed show the effectiveness of the proposed technique.
Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with X-stern Configuration
Do Wan Kim(김도완),Moon Hwan Kim(김문환),Ho-Gyu Park(박호규),Tae-Yeong Kim(김태영) 대한전기학회 2017 전기학회논문지 Vol.66 No.2
This paper focuses on a horizontal waypoint tracking and a speed control of large diameter unmanned underwater vehicles (LDUUVs) with X-stern configuration plane. The concerned design problem is converted into an asymptotic stabilization of the error dynamics with respect to the desired yaw angle and surge speed. It is proved that the error dynamics under the proposed control scheme based on the linear control and the feedback linearization can be considered as a cascade system; the cascade system is asymptotically stable if its nominal systems are so. This stability connection enables to separately deal with the waypoint tracking problem and the speed control one. By using the sector nonlinearity, the nominal system with nonlinearities is modeled as a polytopic linear parameter varying (LPV) system with parametric uncertainties. Then, sufficient linear matrix inequality (LMI) conditions for its asymptotic stabilizability are derived in the sense of Lyapunov stability criterion. An example is given to show the validity of the proposed methodology.