무인수상정에서의 원격운용통제 및 자율수준을 고려한 비상모드 알고리즘 = Emergency Mode Algorithm Considering Remote Operation/Control and Autonomous Level of Unmanned Surface Vehicle

다국어 초록 (Multilingual Abstract)

In remote USV (Unmanned Surface Vehicle) maritime operation, the remote operation and control technic and autonomous control technic is required and the emergency mode algorithm is needed certainly for sailing and accomplishing various surveillance, reconnaissance, and underwater search missions of USV. In this paper, we review the countermeasures in emergency situation of the existing USV system (Barracuda) and propose the emergency mode algorithm considering the operation and control, and autonomous control level for the stable USV operation in case of emergency. We analyzed the autonomous control level in view of the mission complexity and environmental difficulty, and human interface, and verified the performance of the autonomous control level when we apply four emergency mode algorithms. It is expected that more stable and reliable operation and cotrol are possible if the proposed algorithm is applied to the environments requiring the various multi-mission USV sailing and mission achievement.

참고문헌 (Reference)

1 Agency for Defense Development, LIG Nex1, "USV Operation Control/Autonomous Mission System CDR" 2017

2 Y.B. Park, "State and Trend of Maritime Unmanned System Development" 428 : 76-85, 2014

3 H. M. Huang, "Specifying Autonomy Levels for Unmanned Systems: Interim Report" 2004

4 김지연, "MOOS-IvP를 이용한 무인잠수정 제어기 개발의 효용성" 대한임베디드공학회 9 (9): 157-163, 2014

5 P. J. Durst, "Levels of Autonomy and Autonomous System Performance Assessment for Intelligent Unmanned Systems" ERDC/GSL 10-, 2014

6 Defence Agency for Technology and Quality, "Defence Science and Technology Survey" 2013

7 MEGGITT, "Barracuda D4 Target System Operation and Maintenance Manual"

8 H. M. Huang, "Autonomy Levels for Unmanned Systems (ALFUS) Framework: An Update" 27 : 439-448, 2005