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무인수상정의 자율 항법을 위한 타원 방정식 기반의 개선된 Dynamic Window Approach
김효곤,윤성조,최영호,유재관,원병재,서진호 제어·로봇·시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.8
Autonomous navigation technology for Unmanned Surface Vehicles (USVs) has seen many recent advancements. In order for a USV to operate autonomously, the path to move from its current location to its destination must be planned, and local path planning must be applied for tracking the path and avoiding obstacles. The Dynamic Window Approach (DWA) is a well-known navigation algorithm used for local path planning. The DWA algorithm derives the linear velocity and angular velocity by evaluating the object function defined as destination direction, velocity, and distance from the obstacle. However, because DWA does not consider the velocity and direction of obstacles, USVs may be in danger when avoiding high-speed obstacles. In this paper, we propose an improved DWA algorithm that considers the velocity and direction of obstacles. Whereas the existing DWA algorithm defines the obstacle recognition area as a circle, the proposed DWA algorithm defines the obstacle recognition area as an ellipse and reflects the speed of the obstacle in the ellipse. In this study, we implemented a simulation to compare the existing DWA algorithm with the improved DWA algorithm proposed here. The results confirm that the proposed DWA algorithm can avoid dynamic obstacles more safely than the existing DWA algorithm. .
무인수상정을 위한 경로선 추종이 가능한 개선된 Dynamic Window Approach
김효곤,윤성조,최영호,이정우,유재관,원병재,서진호,Kim, Hyogon,Yun, Sung-Jo,Choi, Young-Ho,Lee, Jung-Woo,Ryu, Jae-KWan,Won, Byong-Jae,Suh, Jin-Ho 대한임베디드공학회 2017 대한임베디드공학회논문지 Vol.12 No.5
Recently, autonomous navigation technology, obstacle recognition, and obstacle collision avoidance technology are actively being developed for an unmanned surface vehicle (USV). The path to move from the current location to the destination should be planned, in order for an USV to autonomously operate safely to its destination. The dynamic window approach (DWA) is a well-known navigation scheme as a local path planning. The DWA algorithm derives the linear velocity and angular velocity by evaluating the destination direction, velocity, and distance from the obstacle. However, because DWA algorithm does not consider tracking the path, when using only the DWA algorithm, the ship may navigate away from the path line after avoiding obstacles. In this paper, we propose an improved DWA algorithm that can follow path line. And we implemented the simulation and compared the existing DWA algorithm with the improved DWA algorithm proposed in this paper. As a result, it is confirmed that the proposed DWA algorithm follows the path line better.